altos: Add tracker task for TeleGPS

This replaces the flight code to monitor GPS state and switch flight
states between startup/pad/drogue

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

diff --git a/src/product/ao_tracker.c b/src/product/ao_tracker.c
new file mode 100644 (file)
index 0000000..a710d49
--- /dev/null
+++ b/src/product/ao_tracker.c
@@ -0,0 +1,154 @@
+/*
+ * Copyright © 2014 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+#include <ao_flight.h>
+#include <ao_distance.h>
+#include <ao_exti.h>
+
+enum ao_flight_state   ao_flight_state;
+
+/* Speeds for the various modes */
+#define AO_TRACKER_NOT_MOVING  100
+
+static uint8_t ao_tracker_force_telem;
+
+#if HAS_USB_CONNECT
+static inline uint8_t
+ao_usb_connected(void)
+{
+       return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+}
+#else
+#define ao_usb_connected()     1
+#endif
+
+static void
+ao_tracker(void)
+{
+       uint16_t        telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
+       uint8_t         gps_rate = 1, new_gps_rate;
+       uint8_t         telem_enabled = 1, new_telem_enabled;
+       int32_t         start_latitude = 0, start_longitude = 0;
+       int16_t         start_altitude = 0;
+       uint32_t        ground_distance;
+       int16_t         height;
+       uint16_t        speed;
+
+       ao_timer_set_adc_interval(100);
+
+       ao_flight_state = ao_flight_startup;
+       for (;;) {
+               ao_sleep(&ao_gps_new);
+
+               new_gps_rate = gps_rate;
+               new_telem_rate = telem_rate;
+
+               new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
+
+               ao_mutex_get(&ao_gps_mutex);
+
+               /* Don't change anything if GPS isn't locked */
+               if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+                   (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+               {
+                       switch (ao_flight_state) {
+                       case ao_flight_startup:
+                               /* startup to pad when GPS locks */
+                               ao_flight_state = ao_flight_pad;
+                               start_latitude = ao_gps_data.longitude;
+                               start_longitude = ao_gps_data.latitude;
+                               start_altitude = ao_gps_data.altitude;
+                               break;
+                       case ao_flight_pad:
+                               ground_distance = ao_distance(ao_gps_data.latitude,
+                                                             start_latitude,
+                                                             ao_gps_data.longitude,
+                                                             start_longitude);
+                               height = ao_gps_data.altitude - start_altitude;
+                               if (height < 0)
+                                       height = -height;
+                               if (ground_distance >= ao_config.tracker_start_horiz ||
+                                   height >= ao_config.tracker_start_vert)
+                               {
+                                       ao_flight_state = ao_flight_drogue;
+                                       ao_log_start();
+                               }
+                               break;
+                       case ao_flight_drogue:
+
+                               /* Modulate data rates based on speed (in cm/s) */
+                               if (ao_gps_data.climb_rate < 0)
+                                       speed = -ao_gps_data.climb_rate;
+                               else
+                                       speed = ao_gps_data.climb_rate;
+                               speed += ao_gps_data.ground_speed;
+
+                               if (speed < AO_TRACKER_NOT_MOVING) {
+                                       new_telem_rate = AO_SEC_TO_TICKS(10);
+                                       new_gps_rate = 10;
+                               } else {
+                                       new_telem_rate = AO_SEC_TO_TICKS(1);
+                                       new_gps_rate = 1;
+                               }
+                               break;
+                       default:
+                               break;
+                       }
+               }
+               ao_mutex_put(&ao_gps_mutex);
+
+               if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
+                       if (new_telem_enabled)
+                               ao_telemetry_set_interval(new_telem_rate);
+                       else
+                               ao_telemetry_set_interval(0);
+                       telem_rate = new_telem_rate;
+                       telem_enabled = new_telem_enabled;
+               }
+
+               if (new_gps_rate != gps_rate) {
+                       ao_gps_set_rate(new_gps_rate);
+                       gps_rate = new_gps_rate;
+               }
+       }
+}
+
+static struct ao_task ao_tracker_task;
+
+static void
+ao_tracker_set_telem(void)
+{
+       ao_cmd_hex();
+       if (ao_cmd_status == ao_cmd_success)
+               ao_tracker_force_telem = ao_cmd_lex_i;
+}
+
+static const struct ao_cmds ao_tracker_cmds[] = {
+       { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+       { 0, NULL },
+};
+
+void
+ao_tracker_init(void)
+{
+#if HAS_USB_CONNECT
+       ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
+#endif
+       ao_cmd_register(&ao_tracker_cmds[0]);
+       ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+}