X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=88dc816d25578858aa2c3e8c672cb414b0eb418e;hp=494e656d5ccd3dabe5139cdd1dab6303ba84c8d0;hb=4254de22864de2ed7ae5928c6b8bfd9df1c8a3fb;hpb=6cb744e305116a738b5d71686c6748f6f08c12ea diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 494e656d..88dc816d 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -17,6 +17,7 @@ #ifndef AO_FLIGHT_TEST #include "ao.h" +#include #endif #ifndef HAS_ACCEL @@ -31,10 +32,15 @@ #error Please define HAS_USB #endif +#ifndef HAS_TELEMETRY +#define HAS_TELEMETRY HAS_RADIO +#endif + /* Main flight thread. */ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_boost_tick; /* time of launch detect */ +__pdata uint16_t ao_motor_number; /* number of motors burned so far */ /* * track min/max data over a long interval to detect @@ -43,7 +49,9 @@ __pdata uint16_t ao_boost_tick; /* time of launch detect */ static __data uint16_t ao_interval_end; static __data int16_t ao_interval_min_height; static __data int16_t ao_interval_max_height; +#if HAS_ACCEL static __data int16_t ao_coast_avg_accel; +#endif __pdata uint8_t ao_flight_force_idle; @@ -86,15 +94,19 @@ ao_flight(void) if (ao_config.accel_plus_g == 0 || ao_config.accel_minus_g == 0 || ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || - ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP) + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP || + ao_ground_height < -1000 || + ao_ground_height > 7000) { /* 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; +#if HAS_RADIO && PACKET_HAS_SLAVE /* Turn on packet system in invalid mode on TeleMetrum */ ao_packet_slave_start(); +#endif } else #endif if (!ao_flight_force_idle @@ -105,35 +117,40 @@ ao_flight(void) { /* Set pad mode - we can fly! */ ao_flight_state = ao_flight_pad; -#if HAS_USB +#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE /* Disable the USB controller in flight mode * to save power */ ao_usb_disable(); #endif -#if !HAS_ACCEL +#if !HAS_ACCEL && PACKET_HAS_SLAVE /* Disable packet mode in pad state on TeleMini */ ao_packet_slave_stop(); #endif +#if HAS_TELEMETRY /* Turn on telemetry system */ ao_rdf_set(1); ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); - +#endif +#if HAS_LED /* signal successful initialization by turning off the LED */ ao_led_off(AO_LED_RED); +#endif } else { /* Set idle mode */ ao_flight_state = ao_flight_idle; -#if HAS_ACCEL +#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE /* Turn on packet system in idle mode on TeleMetrum */ ao_packet_slave_start(); #endif +#if HAS_LED /* signal successful initialization by turning off the LED */ ao_led_off(AO_LED_RED); +#endif } /* wakeup threads due to state change */ ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); @@ -167,11 +184,13 @@ ao_flight(void) /* start logging data */ ao_log_start(); +#if HAS_TELEMETRY /* Increase telemetry rate */ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); /* disable RDF beacon */ ao_rdf_set(0); +#endif #if HAS_GPS /* Record current GPS position by waking up GPS log tasks */ @@ -203,6 +222,7 @@ ao_flight(void) #else ao_flight_state = ao_flight_coast; #endif + ++ao_motor_number; ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); } break; @@ -248,14 +268,18 @@ ao_flight(void) #endif ) { +#if HAS_IGNITE /* ignite the drogue charge */ ao_ignite(ao_igniter_drogue); +#endif +#if HAS_TELEMETRY /* slow down the telemetry system */ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); /* Turn the RDF beacon back on */ ao_rdf_set(1); +#endif /* and enter drogue state */ ao_flight_state = ao_flight_drogue; @@ -290,7 +314,9 @@ ao_flight(void) */ if (ao_height <= ao_config.main_deploy) { +#if HAS_IGNITE ao_ignite(ao_igniter_main); +#endif /* * Start recording min/max height @@ -334,17 +360,70 @@ ao_flight(void) ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; } break; - case ao_flight_landed: + default: break; } } } +#if HAS_FLIGHT_DEBUG +static inline int int_part(int16_t i) { return i >> 4; } +static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; } + +static void +ao_flight_dump(void) +{ +#if HAS_ACCEL + int16_t accel; + + accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16; +#endif + + printf ("sample:\n"); + printf (" tick %d\n", ao_sample_tick); + printf (" raw pres %d\n", ao_sample_pres); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); +#endif + printf (" ground pres %d\n", ao_ground_pres); + printf (" ground alt %d\n", ao_ground_height); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); + printf (" groundaccel %d\n", ao_ground_accel); + printf (" accel_2g %d\n", ao_accel_2g); +#endif + + printf (" alt %d\n", ao_sample_alt); + printf (" height %d\n", ao_sample_height); +#if HAS_ACCEL + printf (" accel %d.%02d\n", int_part(accel), frac_part(accel)); +#endif + + + printf ("kalman:\n"); + printf (" height %d\n", ao_height); + printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); + printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); + printf (" max_height %d\n", ao_max_height); + printf (" avg_height %d\n", ao_avg_height); + printf (" error_h %d\n", ao_error_h); + printf (" error_avg %d\n", ao_error_h_sq_avg); +} + +__code struct ao_cmds ao_flight_cmds[] = { + { ao_flight_dump, "F\0Dump flight status" }, + { 0, NULL }, +}; +#endif + static __xdata struct ao_task flight_task; void ao_flight_init(void) { ao_flight_state = ao_flight_startup; +#if HAS_FLIGHT_DEBUG + ao_cmd_register(&ao_flight_cmds[0]); +#endif ao_add_task(&flight_task, ao_flight, "flight"); }