X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=88dc816d25578858aa2c3e8c672cb414b0eb418e;hp=a5cf7468f439728617bfe5877c55d6341ac6becd;hb=4254de22864de2ed7ae5928c6b8bfd9df1c8a3fb;hpb=1c344b760776cd5d8c0297d8db9bf02687381b4e

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index a5cf7468..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 <ao_log.h>
 #endif
 
 #ifndef HAS_ACCEL
@@ -31,18 +32,27 @@
 #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
  * resting
  */
-__pdata uint16_t		ao_interval_end;
-__pdata int16_t			ao_interval_min_height;
-__pdata int16_t			ao_interval_max_height;
+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;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -84,13 +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
@@ -101,28 +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
 
-				/* Disable packet mode in pad state */
+#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 && 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));
@@ -156,11 +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 */
@@ -188,9 +218,11 @@ ao_flight(void)
 			{
 #if HAS_ACCEL
 				ao_flight_state = ao_flight_fast;
+				ao_coast_avg_accel = ao_accel;
 #else
 				ao_flight_state = ao_flight_coast;
 #endif
+				++ao_motor_number;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
@@ -211,6 +243,17 @@ ao_flight(void)
 #endif
 		case ao_flight_coast:
 
+			/*
+			 * By customer request - allow the user
+			 * to lock out apogee detection for a specified
+			 * number of seconds.
+			 */
+			if (ao_config.apogee_lockout) {
+				if ((ao_sample_tick - ao_boost_tick) <
+				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+					break;
+			}
+
 			/* apogee detect: coast to drogue deploy:
 			 *
 			 * speed: < 0
@@ -225,14 +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;
@@ -241,7 +288,8 @@ ao_flight(void)
 #if HAS_ACCEL
 			else {
 			check_re_boost:
-				if (ao_accel > AO_MSS_TO_ACCEL(20)) {
+				ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+				if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 					ao_boost_tick = ao_sample_tick;
 					ao_flight_state = ao_flight_boost;
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -266,7 +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
@@ -310,17 +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");
 }