altos: Add ability to read new TELEM files to ao_flight_test
authorKeith Packard <keithp@keithp.com>
Mon, 18 Jul 2011 01:49:55 +0000 (18:49 -0700)
committerKeith Packard <keithp@keithp.com>
Mon, 18 Jul 2011 01:49:55 +0000 (18:49 -0700)
Not that telem files are currently very useful as the kalman filter
gets completly confused by the variable steps caused by missing data, but...

Signed-off-by: Keith Packard <keithp@keithp.com>
src/ao_flight_test.c
src/ao_kalman.c
src/make-kalman

index 5778544..72ad145 100644 (file)
@@ -298,6 +298,139 @@ ao_insert(void)
        }
 }
 
+#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)
 {
@@ -306,6 +439,8 @@ 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;
@@ -342,6 +477,8 @@ 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]);
@@ -358,6 +495,78 @@ ao_sleep(void *wchan)
                                        a = atoi(words[12]);
                                        b = atoi(words[14]);
                                }
+                       } 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;
index fb75fba..4e6cbb0 100644 (file)
@@ -31,6 +31,9 @@ static __pdata int32_t                ao_k_accel;
 #define AO_K_STEP_10           to_fix16(0.1)
 #define AO_K_STEP_2_2_10       to_fix16(0.005)
 
+#define AO_K_STEP_1            to_fix16(1)
+#define AO_K_STEP_2_2_1                to_fix16(0.5)
+
 __pdata int16_t                        ao_height;
 __pdata int16_t                        ao_speed;
 __pdata int16_t                        ao_accel;
@@ -47,6 +50,13 @@ static void
 ao_kalman_predict(void)
 {
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
+                               (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
+               ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
+
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
                                (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
@@ -126,6 +136,12 @@ ao_kalman_correct_baro(void)
 {
        ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
+               ao_k_speed  += (int32_t) AO_BARO_K1_1 * ao_error_h;
+               ao_k_accel  += (int32_t) AO_BARO_K2_1 * ao_error_h;
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
                ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
@@ -158,6 +174,27 @@ ao_kalman_correct_both(void)
        ao_kalman_err_accel();
 
 #ifdef AO_FLIGHT_TEST
+       if (ao_sample_tick - ao_sample_prev_tick > 50) {
+               if (ao_flight_debug) {
+                       printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+                               ao_k_speed / (65536.0 * 16.0),
+                               (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
+                               (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
+                               (ao_k_speed +
+                                (int32_t) AO_BOTH_K10_1 * ao_error_h +
+                                (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
+               }
+               ao_k_height +=
+                       (int32_t) AO_BOTH_K00_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K01_1 * ao_error_a;
+               ao_k_speed +=
+                       (int32_t) AO_BOTH_K10_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K11_1 * ao_error_a;
+               ao_k_accel +=
+                       (int32_t) AO_BOTH_K20_1 * ao_error_h +
+                       (int32_t) AO_BOTH_K21_1 * ao_error_a;
+               return;
+       }
        if (ao_sample_tick - ao_sample_prev_tick > 5) {
                if (ao_flight_debug) {
                        printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
index 5a25e1e..9ac3513 100644 (file)
@@ -8,9 +8,12 @@ SIGMA_ACCEL="-M 2 -H 4 -A 4"
 
 nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH
 nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH
+nickle kalman.5c -p AO_BOTH -c both -t 1 $SIGMA_BOTH
 
 nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL
 nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL
+nickle kalman.5c -p AO_ACCEL -c accel -t 1 $SIGMA_ACCEL
 
 nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO
 nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO
+nickle kalman.5c -p AO_BARO -c baro -t 1 $SIGMA_BARO