altos: Adjust flight algorithm to handle accel-only timer products

Make our accel-only product (easytimer) follow a shortend flight
state sequence:

 1) startup Average samples
 2.1) startup -> idle. Defined axis accel indicates not pointing up
 2.2) startup -> pad. Defined axes accel indicates pointing up
 3) pad -> boost. Accel > 20m/s² and speed > 5m/s
 4) boost -> coast. accel < -2.5m/s² or 15 second boost
 5.1) coast -> boost. average accel  > 20m/s²
 5.2) coast -> landed. All three accel axes stable for 10 seconds (< 2m/s² accel change)

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

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 9fc3334177b1208ad82f9e256f801fdf87177b32..c5bf0aff634fcd2ccf9453ba0757448517b81f21 100644 (file)
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -306,4 +306,6 @@ ao_bmx160_accel(int16_t sensor) {
        return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
 }
 
+#define ao_bmx_accel_to_sample(accel) ((accel_t) (accel) * (32767.0f / (BMX160_ACCEL_FULLSCALE * GRAVITY)))
+
 #endif /* _BMX160_H_ */

diff --git a/src/easytimer-v1/ao_pins.h b/src/easytimer-v1/ao_pins.h
index 69e6e43c94acc233e62771bb3dd2f8bfef726a40..593119b94a6afbd3c92236bcbd275135dbd45c31 100644 (file)
--- a/src/easytimer-v1/ao_pins.h
+++ b/src/easytimer-v1/ao_pins.h
@@ -227,6 +227,8 @@ struct ao_adc {
 #define ao_data_mag_across(packet)      (-(packet)->bmx160.mag_y)
 #define ao_data_mag_through(packet)     ((packet)->bmx160.mag_z)
 
+#define ao_data_accel_cook(packet)             (-ao_data_along(packet))
+
 /*
  * Monitor
  */

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index b28c76b7fb40cf7a3efe36946050267ddc6cbf3b..a22eee87cfe394bb2b879878328b63d282c475ae 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -454,10 +454,11 @@ static inline float ao_convert_accel(int16_t sensor)
 typedef int16_t accel_t;
 
 #define ao_data_accel(packet)                  ((packet)->z_accel)
-#define ao_data_accel_cook(packet)             ((packet)->bmx160.acc_y)
 #define ao_data_set_accel(packet, accel)       ((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)                        (-(a))
 
+#define ao_data_accel_to_sample(accel)         ao_bmx_accel_to_sample(accel)
+
 #endif
 
 #if !HAS_GYRO && HAS_BMX160

diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c
index ba1f00d0abc72196b89cdf9ca76b778ff3150eb9..8a5f9d37188e63d950c01b00289527eb92d753db 100644 (file)
--- a/src/kernel/ao_flight.c
+++ b/src/kernel/ao_flight.c
@@ -64,12 +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
@@ -244,7 +261,18 @@ 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;
@@ -253,7 +281,7 @@ 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,
@@ -270,6 +298,7 @@ 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
@@ -314,9 +343,45 @@ 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;
@@ -327,6 +392,7 @@ ao_flight(void)
 #endif
 
                        break;
+#if HAS_BARO
                case ao_flight_drogue:
 
                        /* drogue to main deploy:
@@ -370,10 +436,7 @@ 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)
-                               ao_interval_max_height = ao_avg_height;
+                       check_bounds(ao_avg_height, ao_interval_
 
                        if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
                                if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
@@ -387,10 +450,12 @@ ao_flight(void)
 
                                        ao_wakeup(&ao_flight_state);
                                }
+                               init
                                ao_interval_min_height = ao_interval_max_height = ao_avg_height;
                                ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
                        }
                        break;
+#endif /* HAS_BARO */
 #if HAS_FLIGHT_DEBUG
                case ao_flight_test:
 #if HAS_GYRO