altos: Use max of 64 previous orient values when checking pyro limits

Instead of checking just a single measurement to see if the
orientation is outside of the desired limits, use the maximum of 64
previous values to that rapidly changing orientation won't
accidentally enable a pyro channel if sampled at the 'wrong time'.

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

diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c
index e5c30eec42da6e1504880684f773da59760bd482..5a556d594c75b5b8947d49757d68deb3a58bab5c 100644 (file)
--- a/src/kernel/ao_pyro.c
+++ b/src/kernel/ao_pyro.c
@@ -81,6 +81,19 @@ int pyro_dbg;
 #define DBG(...)
 #endif
 
+static angle_t
+ao_sample_max_orient(void)
+{
+       uint8_t i;
+       angle_t max = ao_sample_orients[0];
+
+       for (i = 1; i < AO_NUM_ORIENT; i++) {
+               angle_t a = ao_sample_orients[i];
+               if (a > max)
+                       max = a;
+       }
+       return max;
+}
 /*
  * Given a pyro structure, figure out
  * if the current flight state satisfies all
@@ -90,6 +103,9 @@ static uint8_t
 ao_pyro_ready(struct ao_pyro *pyro)
 {
        enum ao_pyro_flag flag, flags;
+#if HAS_GYRO
+       angle_t max_orient;
+#endif
 
        flags = pyro->flags;
        while (flags != ao_pyro_none) {
@@ -130,14 +146,16 @@ ao_pyro_ready(struct ao_pyro *pyro)
 
 #if HAS_GYRO
                case ao_pyro_orient_less:
-                       if (ao_sample_orient <= pyro->orient_less)
+                       max_orient = ao_sample_max_orient();
+                       if (max_orient <= pyro->orient_less)
                                continue;
-                       DBG("orient %d > %d\n", ao_sample_orient, pyro->orient_less);
+                       DBG("orient %d > %d\n", max_orient, pyro->orient_less);
                        break;
                case ao_pyro_orient_greater:
-                       if (ao_sample_orient >= pyro->orient_greater)
+                       max_orient = ao_sample_max_orient();
+                       if (max_orient >= pyro->orient_greater)
                                continue;
-                       DBG("orient %d < %d\n", ao_sample_orient, pyro->orient_greater);
+                       DBG("orient %d < %d\n", max_orient, pyro->orient_greater);
                        break;
 #endif
 

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 61519478a2a2c6ab1df8f36c7db14869e37fe20c..f8012e3455c48f8bf0b81888f2621366cd0e32ac 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -50,6 +50,8 @@ __pdata gyro_t                ao_sample_roll;
 __pdata gyro_t         ao_sample_pitch;
 __pdata gyro_t         ao_sample_yaw;
 __pdata angle_t                ao_sample_orient;
+__pdata angle_t                ao_sample_orients[AO_NUM_ORIENT];
+__pdata uint8_t                ao_sample_orient_pos;
 #endif
 
 __data uint8_t         ao_sample_data;
@@ -115,6 +117,53 @@ ao_sample_preflight_add(void)
        ++nsamples;
 }
 
+#if HAS_GYRO
+static void
+ao_sample_set_all_orients(void)
+{
+       int i;
+       for (i = 0; i < AO_NUM_ORIENT; i++)
+               ao_sample_orients[i] = ao_sample_orient;
+       ao_sample_orient_pos = 0;
+}
+
+static void
+ao_sample_set_one_orient(void)
+{
+       ao_sample_orients[ao_sample_orient_pos] = ao_sample_orient;
+       ao_sample_orient_pos = (ao_sample_orient_pos + 1) % AO_NUM_ORIENT;
+}
+
+static void
+ao_sample_compute_orient(void)
+{
+       /* Compute pitch angle from vertical by taking the pad
+        * orientation vector and rotating it by the current total
+        * rotation value. That will be a unit vector pointing along
+        * the airframe axis. The Z value will be the cosine of the
+        * change in the angle from vertical since boost.
+        *
+        * rot = ao_rotation * vertical * ao_rotation°
+        * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+        *     = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+        *
+        *     = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+        *     = a.z² - a.y² - a.x² + a.r²
+        *
+        * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+        *     = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+        *
+        *     = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+        *     = -a.z² + a.y² + a.x² - a.r²
+        */
+
+       float rotz;
+       rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
+
+       ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
+}
+#endif /* HAS_GYRO */
+
 static void
 ao_sample_preflight_set(void)
 {
@@ -138,7 +187,7 @@ ao_sample_preflight_set(void)
        ao_sample_pitch_sum = 0;
        ao_sample_yaw_sum = 0;
        ao_sample_roll_sum = 0;
-       ao_sample_orient = 0;
+       ao_sample_set_all_orients();
 
        struct ao_quaternion    orient;
 
@@ -168,6 +217,9 @@ ao_sample_preflight_set(void)
        if (ao_orient_test)
                printf("\n\treset\n");
 #endif 
+
+       ao_sample_compute_orient();
+       ao_sample_set_all_orients();
 #endif
        nsamples = 0;
 }
@@ -195,31 +247,6 @@ ao_sample_rotate(void)
        /* And normalize to make sure it remains a unit vector */
        ao_quaternion_normalize(&ao_rotation, &ao_rotation);
 
-       /* Compute pitch angle from vertical by taking the pad
-        * orientation vector and rotating it by the current total
-        * rotation value. That will be a unit vector pointing along
-        * the airframe axis. The Z value will be the cosine of the
-        * change in the angle from vertical since boost.
-        *
-        * rot = ao_rotation * vertical * ao_rotation°
-        * rot = ao_rotation * (0,0,0,1) * ao_rotation°
-        *     = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
-        *
-        *     = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
-        *     = a.z² - a.y² - a.x² + a.r²
-        *
-        * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
-        *     = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
-        *
-        *     = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
-        *     = -a.z² + a.y² + a.x² - a.r²
-        */
-
-       float rotz;
-       rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
-       ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
 #if HAS_FLIGHT_DEBUG
        if (ao_orient_test) {
                printf ("rot %d %d %d orient %d     \r",
@@ -229,7 +256,8 @@ ao_sample_rotate(void)
                        ao_sample_orient);
        }
 #endif
-
+       ao_sample_compute_orient();
+       ao_sample_set_one_orient();
 }
 #endif
 
@@ -367,6 +395,7 @@ ao_sample_init(void)
        ao_sample_yaw = 0;
        ao_sample_roll = 0;
        ao_sample_orient = 0;
+       ao_sample_set_all_orients();
 #endif
        ao_sample_data = ao_data_head;
        ao_preflight = TRUE;

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index fbef031d46129ab1039b186b7a3885144969e10d..5ae389bec7c636e4356b1d0c4042fd7fee5e25b0 100644 (file)
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -146,7 +146,10 @@ extern __pdata accel_t     ao_sample_accel_through;
 extern __pdata gyro_t  ao_sample_roll;
 extern __pdata gyro_t  ao_sample_pitch;
 extern __pdata gyro_t  ao_sample_yaw;
+#define AO_NUM_ORIENT  64
 extern __pdata angle_t ao_sample_orient;
+extern __pdata angle_t ao_sample_orients[AO_NUM_ORIENT];
+extern __pdata uint8_t ao_sample_orient_pos;
 #endif
 
 void ao_sample_init(void);