X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight_test.c;h=56733c891a9dd3dc8020452d7c2dccda625aa821;hp=f41acbca282dc50fafa0bf8f515f81b8fce4b033;hb=fc4173ff882dd9718f34ed043276ef612783dfe0;hpb=c754759a2d503633d527da4ebb20eb859cd506fd diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index f41acbca..56733c89 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -41,6 +41,7 @@ struct ao_adc { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ + int16_t pres_real; /* unclipped */ int16_t temp; /* temperature sensor */ int16_t v_batt; /* battery voltage */ int16_t sense_d; /* drogue continuity sense */ @@ -61,6 +62,8 @@ struct ao_adc { * Above this height, the baro sensor doesn't work */ #define AO_MAX_BARO_HEIGHT 12000 +#define AO_BARO_SATURATE 13000 +#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) /* * Above this speed, baro measurements are unreliable @@ -152,6 +155,7 @@ FILE *emulator_in; char *emulator_app; char *emulator_name; double emulator_error_max = 4; +double emulator_height_error_max = 20; /* noise in the baro sensor */ void ao_dump_state(void); @@ -175,8 +179,12 @@ struct ao_config { uint16_t main_deploy; int16_t accel_plus_g; int16_t accel_minus_g; + uint8_t pad_orientation; }; +#define AO_PAD_ORIENTATION_ANTENNA_UP 0 +#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 + #define ao_config_get() struct ao_config ao_config; @@ -201,6 +209,8 @@ extern uint16_t ao_sample_tick; extern int16_t ao_sample_height; extern int16_t ao_sample_accel; extern int32_t ao_accel_scale; +extern int16_t ao_ground_height; +extern int16_t ao_sample_alt; int ao_sample_prev_tick; uint16_t prev_tick; @@ -219,12 +229,20 @@ static int ao_test_max_height; static double ao_test_max_height_time; static int ao_test_main_height; static double ao_test_main_height_time; +static double ao_test_landed_time; +static double ao_test_landed_height; +static double ao_test_landed_time; +static int landed_set; +static double landed_time; +static double landed_height; void ao_test_exit(void) { double drogue_error; double main_error; + double landed_error; + double landed_time_error; if (!ao_test_main_height_time) { ao_test_main_height_time = ao_test_max_height_time; @@ -232,16 +250,23 @@ ao_test_exit(void) } drogue_error = fabs(ao_test_max_height_time - drogue_time); main_error = fabs(ao_test_main_height_time - main_time); - if (drogue_error > emulator_error_max || main_error > emulator_error_max) { + landed_error = fabs(ao_test_landed_height - landed_height); + landed_time_error = ao_test_landed_time - landed_time; + if (drogue_error > emulator_error_max || main_error > emulator_error_max || + landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) { printf ("%s %s\n", emulator_app, emulator_name); printf ("\tApogee error %g\n", drogue_error); printf ("\tMain error %g\n", main_error); - printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n", + printf ("\tLanded height error %g\n", landed_error); + printf ("\tLanded time error %g\n", landed_time_error); + printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", ao_test_max_height, ao_test_max_height_time, - ao_test_main_height, ao_test_main_height_time); - printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n", - drogue_height, drogue_time, main_height, main_time); + ao_test_main_height, ao_test_main_height_time, + ao_test_landed_height, ao_test_landed_time); + printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", + drogue_height, drogue_time, main_height, main_time, + landed_height, landed_time); exit (1); } exit(0); @@ -255,7 +280,7 @@ ao_insert(void) ao_adc_ring[ao_adc_head] = ao_adc_static; ao_adc_head = ao_adc_ring_next(ao_adc_head); if (ao_flight_state != ao_flight_startup) { - double height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height; + double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height; double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); @@ -269,14 +294,27 @@ ao_insert(void) if (ao_test_max_height < height) { ao_test_max_height = height; ao_test_max_height_time = time; + ao_test_landed_height = height; + ao_test_landed_time = time; } if (height > ao_config.main_deploy) { ao_test_main_height_time = time; ao_test_main_height = height; } + if (ao_test_landed_height > height) { + ao_test_landed_height = height; + ao_test_landed_time = time; + } + + if (ao_flight_state == ao_flight_landed && !landed_set) { + landed_set = 1; + landed_time = time; + landed_height = height; + } + if (!ao_summary) { - printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n", + printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", time, height, accel, @@ -284,15 +322,150 @@ ao_insert(void) ao_k_height / 65536.0, ao_k_speed / 65536.0 / 16.0, ao_k_accel / 65536.0 / 16.0, + ao_avg_height, drogue_height, main_height, ao_error_h_sq_avg); - if (ao_flight_state == ao_flight_landed) - ao_test_exit(); + +// if (ao_flight_state == ao_flight_landed) +// ao_test_exit(); } } } +#define AO_MAX_CALLSIGN 8 +#define AO_MAX_VERSION 8 +#define AO_MAX_TELEMETRY 128 + +struct ao_telemetry_generic { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t payload[27]; /* 5 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01 +#define AO_TELEMETRY_SENSOR_TELEMINI 0x02 +#define AO_TELEMETRY_SENSOR_TELENANO 0x03 + +struct ao_telemetry_sensor { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t state; /* 5 flight state */ + int16_t accel; /* 6 accelerometer (TM only) */ + int16_t pres; /* 8 pressure sensor */ + int16_t temp; /* 10 temperature sensor */ + int16_t v_batt; /* 12 battery voltage */ + int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */ + int16_t sense_m; /* 16 main continuity sense (TM/Tm) */ + + int16_t acceleration; /* 18 m/s² * 16 */ + int16_t speed; /* 20 m/s * 16 */ + int16_t height; /* 22 m */ + + int16_t ground_pres; /* 24 average pres on pad */ + int16_t ground_accel; /* 26 average accel on pad */ + int16_t accel_plus_g; /* 28 accel calibration at +1g */ + int16_t accel_minus_g; /* 30 accel calibration at -1g */ + /* 32 */ +}; + +#define AO_TELEMETRY_CONFIGURATION 0x04 + +struct ao_telemetry_configuration { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t device; /* 5 device type */ + uint16_t flight; /* 6 flight number */ + uint8_t config_major; /* 8 Config major version */ + uint8_t config_minor; /* 9 Config minor version */ + uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */ + uint16_t main_deploy; /* 12 Main deploy alt in meters */ + uint16_t flight_log_max; /* 14 Maximum flight log size in kB */ + char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */ + char version[AO_MAX_VERSION]; /* 24 Software version */ + /* 32 */ +}; + +#define AO_TELEMETRY_LOCATION 0x05 + +#define AO_GPS_MODE_NOT_VALID 'N' +#define AO_GPS_MODE_AUTONOMOUS 'A' +#define AO_GPS_MODE_DIFFERENTIAL 'D' +#define AO_GPS_MODE_ESTIMATED 'E' +#define AO_GPS_MODE_MANUAL 'M' +#define AO_GPS_MODE_SIMULATED 'S' + +struct ao_telemetry_location { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + + uint8_t flags; /* 5 Number of sats and other flags */ + int16_t altitude; /* 6 GPS reported altitude (m) */ + int32_t latitude; /* 8 latitude (degrees * 10⁷) */ + int32_t longitude; /* 12 longitude (degrees * 10⁷) */ + uint8_t year; /* 16 (- 2000) */ + uint8_t month; /* 17 (1-12) */ + uint8_t day; /* 18 (1-31) */ + uint8_t hour; /* 19 (0-23) */ + uint8_t minute; /* 20 (0-59) */ + uint8_t second; /* 21 (0-59) */ + uint8_t pdop; /* 22 (m * 5) */ + uint8_t hdop; /* 23 (m * 5) */ + uint8_t vdop; /* 24 (m * 5) */ + uint8_t mode; /* 25 */ + uint16_t ground_speed; /* 26 cm/s */ + int16_t climb_rate; /* 28 cm/s */ + uint8_t course; /* 30 degrees / 2 */ + uint8_t unused[1]; /* 31 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SATELLITE 0x06 + +struct ao_telemetry_satellite_info { + uint8_t svid; + uint8_t c_n_1; +}; + +struct ao_telemetry_satellite { + uint16_t serial; /* 0 */ + uint16_t tick; /* 2 */ + uint8_t type; /* 4 */ + uint8_t channels; /* 5 number of reported sats */ + + struct ao_telemetry_satellite_info sats[12]; /* 6 */ + uint8_t unused[2]; /* 30 */ + /* 32 */ +}; + +union ao_telemetry_all { + struct ao_telemetry_generic generic; + struct ao_telemetry_sensor sensor; + struct ao_telemetry_configuration configuration; + struct ao_telemetry_location location; + struct ao_telemetry_satellite satellite; +}; + +uint16_t +uint16(uint8_t *bytes, int off) +{ + off++; + return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8); +} + +int16_t +int16(uint8_t *bytes, int off) +{ + return (int16_t) uint16(bytes, off); +} + void ao_sleep(void *wchan) { @@ -301,6 +474,8 @@ ao_sleep(void *wchan) uint16_t tick; uint16_t a, b; int ret; + uint8_t bytes[1024]; + union ao_telemetry_all telem; char line[1024]; char *saveptr; char *l; @@ -337,6 +512,8 @@ ao_sleep(void *wchan) tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); b = strtoul(words[3], NULL, 16); + if (type == 'P') + type = 'A'; } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); @@ -353,6 +530,89 @@ ao_sleep(void *wchan) a = atoi(words[12]); b = atoi(words[14]); } + } else if (nword == 3 && strcmp(words[0], "BARO") == 0) { + tick = strtol(words[1], NULL, 16); + a = 16384 - 328; + b = strtol(words[2], NULL, 10); + type = 'A'; + if (!ao_flight_started) { + ao_flight_ground_accel = 16384 - 328; + ao_config.accel_plus_g = 16384 - 328; + ao_config.accel_minus_g = 16384 + 328; + ao_flight_started = 1; + } + } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) { + char *hex = words[1]; + char elt[3]; + int i, len; + uint8_t sum; + + len = strlen(hex); + if (len > sizeof (bytes) * 2) { + len = sizeof (bytes)*2; + hex[len] = '\0'; + } + for (i = 0; i < len; i += 2) { + elt[0] = hex[i]; + elt[1] = hex[i+1]; + elt[2] = '\0'; + bytes[i/2] = (uint8_t) strtol(elt, NULL, 16); + } + len = i/2; + if (bytes[0] != len - 2) { + printf ("bad length %d != %d\n", bytes[0], len - 2); + continue; + } + sum = 0x5a; + for (i = 1; i < len-1; i++) + sum += bytes[i]; + if (sum != bytes[len-1]) { + printf ("bad checksum\n"); + continue; + } + if ((bytes[len-2] & 0x80) == 0) { + continue; + } + if (len == 36) { + memcpy(&telem, bytes + 1, 32); + tick = telem.generic.tick; + switch (telem.generic.type) { + case AO_TELEMETRY_SENSOR_TELEMETRUM: + case AO_TELEMETRY_SENSOR_TELEMINI: + case AO_TELEMETRY_SENSOR_TELENANO: + if (!ao_flight_started) { + ao_flight_ground_accel = telem.sensor.ground_accel; + ao_config.accel_plus_g = telem.sensor.accel_plus_g; + ao_config.accel_minus_g = telem.sensor.accel_minus_g; + ao_flight_started = 1; + } + type = 'A'; + a = telem.sensor.accel; + b = telem.sensor.pres; + break; + } + } else if (len == 99) { + ao_flight_started = 1; + tick = uint16(bytes, 21); + ao_flight_ground_accel = int16(bytes, 7); + ao_config.accel_plus_g = int16(bytes, 17); + ao_config.accel_minus_g = int16(bytes, 19); + type = 'A'; + a = int16(bytes, 23); + b = int16(bytes, 25); + } else if (len == 98) { + ao_flight_started = 1; + tick = uint16(bytes, 20); + ao_flight_ground_accel = int16(bytes, 6); + ao_config.accel_plus_g = int16(bytes, 16); + ao_config.accel_minus_g = int16(bytes, 18); + type = 'A'; + a = int16(bytes, 22); + b = int16(bytes, 24); + } else { + printf("unknown len %d\n", len); + continue; + } } if (type != 'F' && !ao_flight_started) continue; @@ -373,6 +633,9 @@ ao_sleep(void *wchan) case 'A': ao_adc_static.tick = tick; ao_adc_static.accel = a; + ao_adc_static.pres_real = b; + if (b < AO_MIN_BARO_VALUE) + b = AO_MIN_BARO_VALUE; ao_adc_static.pres = b; ao_records_read++; ao_insert();