X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight.c;h=e8130baab3070d54cb40a05adc88554508ff6b44;hp=e91a5daa74c97cc77f03b6d3030657c6f061a45e;hb=62eae8a17d870e8ac6937ba23da01a5fbc652c6c;hpb=ca5d323a3d206050d95f52a61e92c69e1f54e7b5 diff --git a/src/ao_flight.c b/src/ao_flight.c index e91a5daa..e8130baa 100644 --- a/src/ao_flight.c +++ b/src/ao_flight.c @@ -19,35 +19,60 @@ #include "ao.h" #endif +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#ifndef USE_KALMAN +#error Please define USE_KALMAN +#endif + /* Main flight thread. */ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_flight_tick; /* time of last data */ __pdata uint16_t ao_flight_prev_tick; /* time of previous data */ -__pdata int16_t ao_flight_accel; /* filtered acceleration */ __pdata int16_t ao_flight_pres; /* filtered pressure */ __pdata int16_t ao_ground_pres; /* startup pressure */ -__pdata int16_t ao_ground_accel; /* startup acceleration */ __pdata int16_t ao_min_pres; /* minimum recorded pressure */ __pdata uint16_t ao_launch_tick; /* time of launch detect */ __pdata int16_t ao_main_pres; /* pressure to eject main */ +#if HAS_ACCEL +__pdata int16_t ao_flight_accel; /* filtered acceleration */ +__pdata int16_t ao_ground_accel; /* startup acceleration */ +#endif /* * track min/max data over a long interval to detect * resting */ __pdata uint16_t ao_interval_end; -__pdata int16_t ao_interval_cur_min_accel; -__pdata int16_t ao_interval_cur_max_accel; __pdata int16_t ao_interval_cur_min_pres; __pdata int16_t ao_interval_cur_max_pres; -__pdata int16_t ao_interval_min_accel; -__pdata int16_t ao_interval_max_accel; __pdata int16_t ao_interval_min_pres; __pdata int16_t ao_interval_max_pres; +#if HAS_ACCEL +__pdata int16_t ao_interval_cur_min_accel; +__pdata int16_t ao_interval_cur_max_accel; +__pdata int16_t ao_interval_min_accel; +__pdata int16_t ao_interval_max_accel; +#endif __data uint8_t ao_flight_adc; -__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; +__pdata int16_t ao_raw_pres; +__xdata uint8_t ao_flight_force_idle; + +#if HAS_ACCEL +__pdata int16_t ao_raw_accel, ao_raw_accel_prev; +__pdata int16_t ao_accel_2g; /* Accelerometer calibration * @@ -72,19 +97,17 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #define GRAVITY 9.80665 /* convert m/s to velocity count */ -#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100)) - -#define ACCEL_G 265 -#define ACCEL_ZERO_G 16000 -#define ACCEL_NOSE_UP (ACCEL_G * 2 /3) -#define ACCEL_BOOST ACCEL_G * 2 -#define ACCEL_INT_LAND (ACCEL_G / 10) -#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10) +#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g) + +#define ACCEL_NOSE_UP (ao_accel_2g >> 2) +#define ACCEL_BOOST ao_accel_2g +#define ACCEL_COAST (ao_accel_2g >> 3) +#define ACCEL_INT_LAND (ao_accel_2g >> 3) #define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200) -#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2) -#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100) #define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5) +#endif + /* * Barometer calibration * @@ -118,6 +141,7 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres; #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) +#if HAS_ACCEL /* This value is scaled in a weird way. It's a running total of accelerometer * readings minus the ground accelerometer reading. That means it measures * velocity, and quite accurately too. As it gets updated 100 times a second, @@ -127,12 +151,71 @@ __pdata int32_t ao_flight_vel; __pdata int32_t ao_min_vel; __pdata int32_t ao_old_vel; __pdata int16_t ao_old_vel_tick; -__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum; +__xdata int32_t ao_raw_accel_sum; +#endif + +#if USE_KALMAN +__pdata int16_t ao_ground_height; +__pdata int32_t ao_k_max_height; +__pdata int32_t ao_k_height; +__pdata int32_t ao_k_speed; +__pdata int32_t ao_k_accel; + +#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) + +#define from_fix(x) ((x) >> 16) + +#define AO_K0_100 to_fix16(0.05680323) +#define AO_K1_100 to_fix16(0.16608182) +#define AO_K2_100 to_fix16(0.24279580) + +#define AO_K_STEP_100 to_fix16(0.01) +#define AO_K_STEP_2_2_100 to_fix16(0.00005) + +#define AO_K0_10 to_fix16(0.23772023) +#define AO_K1_10 to_fix16(0.32214149) +#define AO_K2_10 to_fix16(0.21827159) + +#define AO_K_STEP_10 to_fix16(0.1) +#define AO_K_STEP_2_2_10 to_fix16(0.005) + +static void +ao_kalman_baro(void) +{ + int16_t err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height)) + - (int16_t) (ao_k_height >> 16); + +#ifdef AO_FLIGHT_TEST + if (ao_flight_tick - ao_flight_prev_tick > 5) { + ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 + + (ao_k_accel >> 16) * AO_K_STEP_2_2_10); + ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10; + + /* correct */ + ao_k_height += (int32_t) AO_K0_10 * err; + ao_k_speed += (int32_t) AO_K1_10 * err; + ao_k_accel += (int32_t) AO_K2_10 * err; + return; + } +#endif + ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 + + (ao_k_accel >> 16) * AO_K_STEP_2_2_100); + ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100; + + /* correct */ + ao_k_height += (int32_t) AO_K0_100 * err; + ao_k_speed += (int32_t) AO_K1_100 * err; + ao_k_accel += (int32_t) AO_K2_100 * err; +} +#endif + +__xdata int32_t ao_raw_pres_sum; /* Landing is detected by getting constant readings from both pressure and accelerometer * for a fairly long time (AO_INTERVAL_TICKS) */ -#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(20) +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5) #define abs(a) ((a) < 0 ? -(a) : (a)) @@ -142,26 +225,119 @@ ao_flight(void) __pdata static uint16_t nsamples = 0; ao_flight_adc = ao_adc_head; + ao_raw_pres = 0; +#if HAS_ACCEL ao_raw_accel_prev = 0; ao_raw_accel = 0; - ao_raw_pres = 0; +#endif ao_flight_tick = 0; for (;;) { - ao_sleep(&ao_adc_ring); + ao_wakeup(DATA_TO_XDATA(&ao_flight_adc)); + ao_sleep(DATA_TO_XDATA(&ao_adc_head)); while (ao_flight_adc != ao_adc_head) { +#if HAS_ACCEL __pdata uint8_t ticks; __pdata int16_t ao_vel_change; +#endif + __xdata struct ao_adc *ao_adc; ao_flight_prev_tick = ao_flight_tick; /* Capture a sample */ - ao_raw_accel = ao_adc_ring[ao_flight_adc].accel; - ao_raw_pres = ao_adc_ring[ao_flight_adc].pres; - ao_flight_tick = ao_adc_ring[ao_flight_adc].tick; + ao_adc = &ao_adc_ring[ao_flight_adc]; + ao_flight_tick = ao_adc->tick; + ao_raw_pres = ao_adc->pres; + ao_flight_pres -= ao_flight_pres >> 4; + ao_flight_pres += ao_raw_pres >> 4; + +#if HAS_ACCEL + ao_raw_accel = ao_adc->accel; +#if HAS_ACCEL_REF + /* + * Ok, the math here is a bit tricky. + * + * ao_raw_accel: ADC output for acceleration + * ao_accel_ref: ADC output for the 5V reference. + * ao_cook_accel: Corrected acceleration value + * Vcc: 3.3V supply to the CC1111 + * Vac: 5V supply to the accelerometer + * accel: input voltage to accelerometer ADC pin + * ref: input voltage to 5V reference ADC pin + * + * + * Measured acceleration is ratiometric to Vcc: + * + * ao_raw_accel accel + * ------------ = ----- + * 32767 Vcc + * + * Measured 5v reference is also ratiometric to Vcc: + * + * ao_accel_ref ref + * ------------ = ----- + * 32767 Vcc + * + * + * ao_accel_ref = 32767 * (ref / Vcc) + * + * Acceleration is measured ratiometric to the 5V supply, + * so what we want is: + * + * ao_cook_accel accel + * ------------- = ----- + * 32767 ref + * + * + * accel Vcc + * = ----- * --- + * Vcc ref + * + * ao_raw_accel 32767 + * = ------------ * ------------ + * 32737 ao_accel_ref + * + * Multiply through by 32767: + * + * ao_raw_accel * 32767 + * ao_cook_accel = -------------------- + * ao_accel_ref + * + * Now, the tricky part. Getting this to compile efficiently + * and keeping all of the values in-range. + * + * First off, we need to use a shift of 16 instead of * 32767 as SDCC + * does the obvious optimizations for byte-granularity shifts: + * + * ao_cook_accel = (ao_raw_accel << 16) / ao_accel_ref + * + * Next, lets check our input ranges: + * + * 0 <= ao_raw_accel <= 0x7fff (singled ended ADC conversion) + * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff) + * + * Plugging in our input ranges, we get an output range of 0 - 0x12490, + * which is 17 bits. That won't work. If we take the accel ref and shift + * by a bit, we'll change its range: + * + * 0xe000 <= ao_accel_ref<<1 <= 0xfffe + * + * ao_cook_accel = (ao_raw_accel << 16) / (ao_accel_ref << 1) + * + * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It + * is, however, one bit too large for our signed computations. So, we + * take the result and shift that by a bit: + * + * ao_cook_accel = ((ao_raw_accel << 16) / (ao_accel_ref << 1)) >> 1 + * + * This finally creates an output range of 0 - 0x4924. As the ADC only + * provides 11 bits of data, we haven't actually lost any precision, + * just dropped a bit of noise off the low end. + */ + ao_raw_accel = (uint16_t) ((((uint32_t) ao_raw_accel << 16) / (ao_accel_ref[ao_flight_adc] << 1))) >> 1; + ao_adc->accel = ao_raw_accel; +#endif ao_flight_accel -= ao_flight_accel >> 4; ao_flight_accel += ao_raw_accel >> 4; - ao_flight_pres -= ao_flight_pres >> 4; - ao_flight_pres += ao_raw_pres >> 4; /* Update velocity * * The accelerometer is mounted so that @@ -170,20 +346,26 @@ ao_flight(void) * so subtract instead of add. */ ticks = ao_flight_tick - ao_flight_prev_tick; - ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel); + ao_vel_change = ao_ground_accel - (((ao_raw_accel + 1) >> 1) + ((ao_raw_accel_prev + 1) >> 1)); ao_raw_accel_prev = ao_raw_accel; /* one is a common interval */ if (ticks == 1) - ao_flight_vel -= (int32_t) ao_vel_change; + ao_flight_vel += (int32_t) ao_vel_change; else - ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks; + ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks; +#endif +#if USE_KALMAN + if (ao_flight_state > ao_flight_idle) + ao_kalman_baro(); +#endif ao_flight_adc = ao_adc_ring_next(ao_flight_adc); } if (ao_flight_pres < ao_min_pres) ao_min_pres = ao_flight_pres; +#if HAS_ACCEL if (ao_flight_vel >= 0) { if (ao_flight_vel < ao_min_vel) ao_min_vel = ao_flight_vel; @@ -191,60 +373,99 @@ ao_flight(void) if (-ao_flight_vel < ao_min_vel) ao_min_vel = -ao_flight_vel; } +#endif switch (ao_flight_state) { case ao_flight_startup: /* startup state: * - * Collect 1000 samples of acceleration and pressure + * Collect 512 samples of acceleration and pressure * data and average them to find the resting values */ - if (nsamples < 1000) { + if (nsamples < 512) { +#if HAS_ACCEL ao_raw_accel_sum += ao_raw_accel; +#endif ao_raw_pres_sum += ao_raw_pres; ++nsamples; continue; } - ao_ground_accel = (ao_raw_accel_sum / nsamples); - ao_ground_pres = (ao_raw_pres_sum / nsamples); +#if HAS_ACCEL + ao_ground_accel = ao_raw_accel_sum >> 9; +#endif + ao_ground_pres = ao_raw_pres_sum >> 9; ao_min_pres = ao_ground_pres; ao_config_get(); +#if USE_KALMAN + ao_ground_height = ao_pres_to_altitude(ao_ground_pres); +#endif ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy); +#if HAS_ACCEL + ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g; ao_flight_vel = 0; ao_min_vel = 0; ao_old_vel = ao_flight_vel; ao_old_vel_tick = ao_flight_tick; +#endif - /* Go to pad state if the nose is pointing up */ + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ ao_config_get(); - if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) { +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB /* Disable the USB controller in flight mode * to save power */ ao_usb_disable(); +#endif - /* Turn on telemetry system - */ + /* Disable packet mode in pad state */ + ao_packet_slave_stop(); + + /* Turn on telemetry system */ ao_rdf_set(1); ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); - ao_flight_state = ao_flight_pad; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); } else { - ao_flight_state = ao_flight_idle; - - /* Turn on packet system in idle mode - */ - ao_packet_slave_start(); - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); } - /* signal successful initialization by turning off the LED */ - ao_led_off(AO_LED_RED); + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + break; case ao_flight_pad: +#if HAS_ACCEL /* Trim velocity * * Once a second, remove any velocity from @@ -255,6 +476,7 @@ ao_flight(void) ao_flight_vel -= ao_old_vel; ao_old_vel = ao_flight_vel; } +#endif /* pad to boost: * * accelerometer: > 2g AND velocity > 5m/s @@ -265,11 +487,24 @@ ao_flight(void) * the barometer, but we use both to make sure this * transition is detected */ - if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST && - ao_flight_vel > ACCEL_VEL_BOOST) || +#if USE_KALMAN + if ((ao_k_accel > to_fix32(20) && + ao_k_speed > to_fix32(5)) || + ao_k_height > to_fix32(20)) +#else + if ( +#if HAS_ACCEL + (ao_flight_accel < ao_ground_accel - ACCEL_BOOST && + ao_flight_vel > ACCEL_VEL_BOOST) || +#endif ao_flight_pres < ao_ground_pres - BARO_LAUNCH) +#endif { +#if HAS_ACCEL || USE_KALMAN ao_flight_state = ao_flight_boost; +#else + ao_flight_state = ao_flight_coast; +#endif ao_launch_tick = ao_flight_tick; /* start logging data */ @@ -281,10 +516,17 @@ ao_flight(void) /* disable RDF beacon */ ao_rdf_set(0); +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_wakeup(&ao_gps_data); + ao_wakeup(&ao_gps_tracking_data); +#endif + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); break; } break; +#if HAS_ACCEL || USE_KALMAN case ao_flight_boost: /* boost to fast: @@ -297,8 +539,13 @@ ao_flight(void) * deceleration, or by waiting until the maximum burn duration * (15 seconds) has past. */ - if (ao_flight_accel > ao_ground_accel + (ACCEL_G >> 2) || +#if USE_KALMAN + if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) || (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX) +#else + if (ao_flight_accel > ao_ground_accel + ACCEL_COAST || + (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX) +#endif { ao_flight_state = ao_flight_fast; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); @@ -322,34 +569,46 @@ ao_flight(void) * how big a pressure change the mach transition * generates would be useful here. */ +#if USE_KALMAN + if (ao_k_speed < to_fix32(200) || + ao_k_height < ao_k_max_height - to_fix32(500)) +#else if (ao_flight_vel < ACCEL_VEL_MACH || ao_flight_pres > ao_min_pres + BARO_COAST) +#endif { +#if HAS_ACCEL /* set min velocity to current velocity for * apogee detect */ ao_min_vel = abs(ao_flight_vel); +#endif ao_flight_state = ao_flight_coast; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } break; +#endif /* HAS_ACCEL */ case ao_flight_coast: +#if USE_KALMAN + /* apogee detect: coast to drogue deploy: + * + * speed: < 0 + */ + if (ao_k_speed < 0) +#else /* apogee detect: coast to drogue deploy: * - * accelerometer: abs(velocity) > min_velocity + 2m/s - * OR * barometer: fall at least 10m * - * If the barometer saturates because the flight - * goes over its measuring range (about 53k'), - * requiring a 10m fall will avoid prematurely - * detecting apogee; the accelerometer will take - * over in that case and the integrated velocity - * measurement should suffice to find apogee + * It would be nice to use the accelerometer + * to detect apogee as well, but tests have + * shown that flights far from vertical would + * grossly mis-detect apogee. So, for now, + * we'll trust to a single sensor for this test */ - if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */ - ao_flight_pres > ao_min_pres + BARO_APOGEE) + if (ao_flight_pres > ao_min_pres + BARO_APOGEE) +#endif { /* ignite the drogue charge */ ao_ignite(ao_igniter_drogue); @@ -367,8 +626,10 @@ ao_flight(void) /* Set the 'last' limits to max range to prevent * early resting detection */ +#if HAS_ACCEL ao_interval_min_accel = 0; ao_interval_max_accel = 0x7fff; +#endif ao_interval_min_pres = 0; ao_interval_max_pres = 0x7fff; @@ -376,7 +637,9 @@ ao_flight(void) ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; +#endif /* and enter drogue state */ ao_flight_state = ao_flight_drogue; @@ -398,7 +661,11 @@ ao_flight(void) * at that point. Perhaps also use the drogue sense lines * to notice continutity? */ +#if USE_KALMAN + if (from_fix(ao_k_height) < ao_config.main_deploy) +#else if (ao_flight_pres >= ao_main_pres) +#endif { ao_ignite(ao_igniter_main); ao_flight_state = ao_flight_main; @@ -419,33 +686,40 @@ ao_flight(void) ao_interval_cur_min_pres = ao_flight_pres; if (ao_flight_pres > ao_interval_cur_max_pres) ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL if (ao_flight_accel < ao_interval_cur_min_accel) ao_interval_cur_min_accel = ao_flight_accel; if (ao_flight_accel > ao_interval_cur_max_accel) ao_interval_cur_max_accel = ao_flight_accel; +#endif if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { ao_interval_max_pres = ao_interval_cur_max_pres; ao_interval_min_pres = ao_interval_cur_min_pres; + ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; +#if HAS_ACCEL ao_interval_max_accel = ao_interval_cur_max_accel; ao_interval_min_accel = ao_interval_cur_min_accel; - ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres; ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel; - } - - if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && - ao_flight_pres > ao_ground_pres - BARO_LAND && - (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) - { - ao_flight_state = ao_flight_landed; - - /* turn off the ADC capture */ - ao_timer_set_adc_interval(0); - /* Enable RDF beacon */ - ao_rdf_set(1); +#endif + ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + if ( +#if HAS_ACCEL + (uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND && +#endif + ao_flight_pres > ao_ground_pres - BARO_LAND && + (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND) + { + ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + /* Enable RDF beacon */ + ao_rdf_set(1); + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } } break; case ao_flight_landed: @@ -454,37 +728,11 @@ ao_flight(void) } } -#define AO_ACCEL_COUNT_TO_MSS(count) ((count) / 27) -#define AO_VEL_COUNT_TO_MS(count) ((int16_t) ((count) / 2700)) - -static void -ao_flight_status(void) __reentrant -{ - printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n", - ao_state_names[ao_flight_state], - AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel), - AO_VEL_COUNT_TO_MS(ao_flight_vel), - ao_pres_to_altitude(ao_flight_pres), - ao_pres_to_altitude(ao_main_pres)); -} - static __xdata struct ao_task flight_task; -__code struct ao_cmds ao_flight_cmds[] = { - { 'f', ao_flight_status, "f Display current flight state" }, - { 0, ao_flight_status, NULL } -}; - void ao_flight_init(void) { ao_flight_state = ao_flight_startup; - ao_interval_min_accel = 0; - ao_interval_max_accel = 0x7fff; - ao_interval_min_pres = 0; - ao_interval_max_pres = 0x7fff; - ao_interval_end = AO_INTERVAL_TICKS; - ao_add_task(&flight_task, ao_flight, "flight"); - ao_cmd_register(&ao_flight_cmds[0]); }