altos: Allow accel-only flight code

EasyTimer won't have a baro sensor, so we need some way to track at least
the ascent part of a flight.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index 5a5d5b72b0adfb887f238d6512c5b91b68b8a016..afee1de710935b00c6a75e3b3f2498beb23be6a8 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -21,6 +21,8 @@
 #include <ao_log.h>
 #endif
 
+#include <ao_flight.h>
+
 #if HAS_MPU6000 || HAS_MPU9250
 #include <ao_quaternion.h>
 #endif
@@ -62,12 +64,29 @@ uint8_t                     ao_sensor_errors;
  * resting
  */
 static uint16_t                ao_interval_end;
+#ifdef HAS_BARO
 static ao_v_t          ao_interval_min_height;
 static ao_v_t          ao_interval_max_height;
+#else
+static accel_t         ao_interval_min_accel_along, ao_interval_max_accel_along;
+static accel_t         ao_interval_min_accel_across, ao_interval_max_accel_across;
+static accel_t         ao_interval_min_accel_through, ao_interval_max_accel_through;
+#endif
 #if HAS_ACCEL
 static ao_v_t          ao_coast_avg_accel;
 #endif
 
+#define init_bounds(_cur, _min, _max) do {                             \
+               _min = _max = _cur;                                     \
+       } while (0)
+
+#define check_bounds(_cur, _min, _max) do {    \
+               if (_cur < _min)                \
+                       _min = _cur;            \
+               if (_cur > _max)                \
+                       _max = _cur;            \
+       } while(0)
+
 uint8_t                        ao_flight_force_idle;
 
 /* We also have a clock, which can be used to sanity check things in
@@ -109,9 +128,12 @@ 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_height < -1000 ||
-                           ao_ground_height > 7000)
+                           ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP
+#if HAS_BARO
+                           || ao_ground_height < -1000 ||
+                           ao_ground_height > 7000
+#endif
+                               )
                        {
                                /* Detected an accel value outside -1.5g to 1.5g
                                 * (or uncalibrated values), so we go into invalid mode
@@ -203,7 +225,9 @@ ao_flight(void)
                                ao_launch_tick = ao_boost_tick = ao_sample_tick;
 
                                /* start logging data */
+#if HAS_LOG
                                ao_log_start();
+#endif
 
 #if HAS_TELEMETRY
                                /* Increase telemetry rate */
@@ -238,7 +262,18 @@ ao_flight(void)
                            (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
                        {
 #if HAS_ACCEL
+#if HAS_BARO
                                ao_flight_state = ao_flight_fast;
+#else
+                               ao_flight_state = ao_flight_coast;
+
+                               /* Initialize landing detection interval values */
+                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+                               init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                               init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                               init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+#endif
                                ao_coast_avg_accel = ao_accel;
 #else
                                ao_flight_state = ao_flight_coast;
@@ -247,7 +282,7 @@ ao_flight(void)
                                ao_wakeup(&ao_flight_state);
                        }
                        break;
-#if HAS_ACCEL
+#if HAS_ACCEL && HAS_BARO
                case ao_flight_fast:
                        /*
                         * This is essentially the same as coast,
@@ -264,6 +299,7 @@ ao_flight(void)
 #endif
                case ao_flight_coast:
 
+#if HAS_BARO
                        /*
                         * By customer request - allow the user
                         * to lock out apogee detection for a specified
@@ -308,9 +344,45 @@ ao_flight(void)
                                ao_flight_state = ao_flight_drogue;
                                ao_wakeup(&ao_flight_state);
                        }
+                       else
+#else /* not HAS_BARO */
+                       /* coast to land:
+                        *
+                        * accel: values stable
+                        */
+                       check_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                       check_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                       check_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+
+#define MAX_QUIET_ACCEL        2
+
+                       if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+                               if (ao_interval_max_accel_along - ao_interval_min_accel_along <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
+                                   ao_interval_max_accel_across - ao_interval_min_accel_across <= ao_data_accel_to_sample(MAX_QUIET_ACCEL) &&
+                                   ao_interval_max_accel_through - ao_interval_min_accel_through <= ao_data_accel_to_sample(MAX_QUIET_ACCEL))
+                               {
+                                       ao_flight_state = ao_flight_landed;
+#if HAS_ADC
+                                       /* turn off the ADC capture */
+                                       ao_timer_set_adc_interval(0);
+#endif
+
+                                       ao_wakeup(&ao_flight_state);
+                               }
+
+                               /* Reset interval values */
+                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+                               init_bounds(ao_sample_accel_along, ao_interval_min_accel_along, ao_interval_max_accel_along);
+                               init_bounds(ao_sample_accel_across, ao_interval_min_accel_across, ao_interval_max_accel_across);
+                               init_bounds(ao_sample_accel_through, ao_interval_min_accel_through, ao_interval_max_accel_through);
+                       }
+#endif
 #if HAS_ACCEL
-                       else {
+                       {
+#if HAS_BARO
                        check_re_boost:
+#endif
                                ao_coast_avg_accel = ao_coast_avg_accel + ((ao_accel - ao_coast_avg_accel) >> 5);
                                if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
                                        ao_boost_tick = ao_sample_tick;
@@ -321,6 +393,7 @@ ao_flight(void)
 #endif
 
                        break;
+#if HAS_BARO
                case ao_flight_drogue:
 
                        /* drogue to main deploy:
@@ -363,7 +436,6 @@ ao_flight(void)
                         *
                         * barometer: altitude stable
                         */
-
                        if (ao_avg_height < ao_interval_min_height)
                                ao_interval_min_height = ao_avg_height;
                        if (ao_avg_height > ao_interval_max_height)
@@ -385,6 +457,7 @@ ao_flight(void)
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
+#endif /* HAS_BARO */
 #if HAS_FLIGHT_DEBUG
                case ao_flight_test:
 #if HAS_GYRO

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b..aaf0595f01ab7d5e345ab5997983386f78bd4c1e 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -86,6 +86,7 @@ ao_kalman_predict(void)
        ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
 }
 
+#if HAS_BARO
 static void
 ao_kalman_err_height(void)
 {
@@ -140,7 +141,9 @@ ao_kalman_err_height(void)
 #endif
        }
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
@@ -163,6 +166,7 @@ ao_kalman_correct_baro(void)
        ao_k_speed  += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
        ao_k_accel  += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
 }
+#endif
 
 #if HAS_ACCEL
 
@@ -177,7 +181,7 @@ ao_kalman_err_accel(void)
        ao_error_a = (accel - ao_k_accel) >> 16;
 }
 
-#ifndef FORCE_ACCEL
+#if !defined(FORCE_ACCEL) && HAS_BARO
 static void
 ao_kalman_correct_both(void)
 {
@@ -255,12 +259,14 @@ ao_kalman_correct_accel(void)
 {
        ao_kalman_err_accel();
 
+#ifdef AO_FLIGHT_TEST
        if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
                ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
                ao_k_speed  += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
                ao_k_accel  += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
                return;
        }
+#endif
        ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
        ao_k_speed  += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
        ao_k_accel  += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
@@ -273,6 +279,7 @@ void
 ao_kalman(void)
 {
        ao_kalman_predict();
+#if HAS_BARO
 #if HAS_ACCEL
        if (ao_flight_state <= ao_flight_coast) {
 #ifdef FORCE_ACCEL
@@ -283,12 +290,21 @@ ao_kalman(void)
        } else
 #endif
                ao_kalman_correct_baro();
+#else
+#if HAS_ACCEL
+       ao_kalman_correct_accel();
+#endif
+#endif
        ao_height = from_fix(ao_k_height);
        ao_speed = from_fix(ao_k_speed);
        ao_accel = from_fix(ao_k_accel);
        if (ao_height > ao_max_height)
                ao_max_height = ao_height;
+#if HAS_BARO
        ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
+#else
+       ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+#endif
 #ifdef AO_FLIGHT_TEST
        if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
                ao_avg_height = (ao_avg_height_scaled + 1) >> 1;

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 9cba36c1004b37ec31717e7c4431e08ede4bf615..b3e12b19df7579ff50734defc8153fa9247db8d3 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -36,9 +36,11 @@
 #endif
 
 uint16_t       ao_sample_tick;         /* time of last data */
+#if HAS_BARO
 pres_t         ao_sample_pres;
 alt_t          ao_sample_alt;
 alt_t          ao_sample_height;
+#endif
 #if HAS_ACCEL
 accel_t                ao_sample_accel;
 #endif
@@ -60,8 +62,10 @@ uint8_t              ao_sample_data;
  * Sensor calibration values
  */
 
+#if HAS_BARO
 pres_t         ao_ground_pres;         /* startup pressure */
 alt_t          ao_ground_height;       /* MSL of ao_ground_pres */
+#endif
 
 #if HAS_ACCEL
 accel_t                ao_ground_accel;        /* startup acceleration */
@@ -81,7 +85,9 @@ int32_t               ao_ground_roll;
 static uint8_t ao_preflight;           /* in preflight mode */
 
 static uint16_t        nsamples;
+#if HAS_BARO
 int32_t ao_sample_pres_sum;
+#endif
 #if HAS_ACCEL
 int32_t ao_sample_accel_sum;
 #endif
@@ -105,7 +111,9 @@ ao_sample_preflight_add(void)
 #if HAS_ACCEL
        ao_sample_accel_sum += ao_sample_accel;
 #endif
+#if HAS_BARO
        ao_sample_pres_sum += ao_sample_pres;
+#endif
 #if HAS_GYRO
        ao_sample_accel_along_sum += ao_sample_accel_along;
        ao_sample_accel_across_sum += ao_sample_accel_across;
@@ -171,9 +179,11 @@ ao_sample_preflight_set(void)
        ao_ground_accel = ao_sample_accel_sum >> 9;
        ao_sample_accel_sum = 0;
 #endif
+#if HAS_BARO
        ao_ground_pres = ao_sample_pres_sum >> 9;
        ao_ground_height = pres_to_altitude(ao_ground_pres);
        ao_sample_pres_sum = 0;
+#endif
 #if HAS_GYRO
        ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
        ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
@@ -375,8 +385,10 @@ ao_sample_init(void)
 {
        ao_config_get();
        nsamples = 0;
+#if HAS_BARO
        ao_sample_pres_sum = 0;
        ao_sample_pres = 0;
+#endif
 #if HAS_ACCEL
        ao_sample_accel_sum = 0;
        ao_sample_accel = 0;