X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_flight.c;h=aac6880db1260d6dea90a4ce47cd5319e6e1d0f4;hp=a0affc4868f028dd61ccea1b86c0ac863e404623;hb=755082d36231c1b247bc0e1f13919dd9b5c362a8;hpb=1ae3f467a1d7be2fc3b1a45ba12568a3a25a0099

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index a0affc48..aac6880d 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -20,6 +20,10 @@
 #include <ao_log.h>
 #endif
 
+#if HAS_MPU6000
+#include <ao_quaternion.h>
+#endif
+
 #ifndef HAS_ACCEL
 #error Please define HAS_ACCEL
 #endif
@@ -40,6 +44,12 @@
 
 __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 */
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t			ao_sensor_errors;
+#endif
 
 /*
  * track min/max data over a long interval to detect
@@ -48,7 +58,9 @@ __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;
 
@@ -91,7 +103,9 @@ 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
@@ -112,14 +126,14 @@ ao_flight(void)
  			{
 				/* Set pad mode - we can fly! */
 				ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO
+#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
@@ -129,19 +143,27 @@ ao_flight(void)
 				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;
+				ao_flight_state = ao_flight_idle;
+#if HAS_SENSOR_ERRORS
+				if (ao_sensor_errors)
+					ao_flight_state = ao_flight_invalid;
+#endif
  
 #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));
@@ -185,8 +207,8 @@ ao_flight(void)
 
 #if HAS_GPS
 				/* Record current GPS position by waking up GPS log tasks */
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 #endif
 
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -213,6 +235,7 @@ ao_flight(void)
 #else
 				ao_flight_state = ao_flight_coast;
 #endif
+				++ao_motor_number;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 			}
 			break;
@@ -350,13 +373,25 @@ ao_flight(void)
 				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 			}
 			break;
-		case ao_flight_landed:
+#if HAS_FLIGHT_DEBUG
+		case ao_flight_test:
+#if HAS_GYRO
+			printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
+				ao_sample_orient,
+				((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
+				((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
+				((ao_sample_roll << 9) - ao_ground_roll) >> 9);
+#endif
+			flush();
+			break;
+#endif /* HAS_FLIGHT_DEBUG */
+		default:
 			break;
 		}
 	}
 }
 
-#if !HAS_RADIO
+#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; }
 
@@ -376,6 +411,7 @@ ao_flight_dump(void)
 	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);
@@ -399,8 +435,17 @@ ao_flight_dump(void)
 	printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 }
 
+static void
+ao_gyro_test(void)
+{
+	ao_flight_state = ao_flight_test;
+	ao_getchar();
+	ao_flight_state = ao_flight_idle;
+}
+
 __code struct ao_cmds ao_flight_cmds[] = {
 	{ ao_flight_dump, 	"F\0Dump flight status" },
+	{ ao_gyro_test,		"G\0Test gyro code" },
 	{ 0, NULL },
 };
 #endif
@@ -411,7 +456,7 @@ void
 ao_flight_init(void)
 {
 	ao_flight_state = ao_flight_startup;
-#if !HAS_RADIO
+#if HAS_FLIGHT_DEBUG
 	ao_cmd_register(&ao_flight_cmds[0]);
 #endif
 	ao_add_task(&flight_task, ao_flight, "flight");