From: Keith Packard Date: Tue, 10 Jun 2014 16:52:15 +0000 (-0700) Subject: altos: Simplify tracker logic, removing boost detect X-Git-Tag: 1.4~90 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=9d7f4fb6af0fee843191766858e39a481aeda347 altos: Simplify tracker logic, removing boost detect This removes the ao_flight_state value from the tracker code and makes it simply log position information when the device has moved within the last 10 log intervals. This also changes the configuration parameters to define what 'motionless' means, and what interval to configure the GPS receiver for, log data and send telemetry. Signed-off-by: Keith Packard --- diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 72170555..71445335 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -184,8 +184,8 @@ _ao_config_get(void) #endif #if HAS_TRACKER if (minor < 17) { - ao_config.tracker_start_horiz = AO_CONFIG_DEFAULT_TRACKER_START_HORIZ; - ao_config.tracker_start_vert = AO_CONFIG_DEFAULT_TRACKER_START_VERT; + ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT; + ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT; } #endif #if AO_PYRO_NUM @@ -695,25 +695,25 @@ void ao_config_tracker_show(void) { printf ("Tracker setting: %d %d\n", - ao_config.tracker_start_horiz, - ao_config.tracker_start_vert); + ao_config.tracker_motion, + ao_config.tracker_interval); } void ao_config_tracker_set(void) { - uint16_t h, v; + uint16_t m, i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - h = ao_cmd_lex_i; + m = ao_cmd_lex_i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - v = ao_cmd_lex_i; + i = ao_cmd_lex_i; _ao_config_edit_start(); - ao_config.tracker_start_horiz = h; - ao_config.tracker_start_vert = v; + ao_config.tracker_motion = m; + ao_config.tracker_interval = i; _ao_config_edit_finish(); } #endif /* HAS_TRACKER */ @@ -814,7 +814,7 @@ __code struct ao_config_var ao_config_vars[] = { ao_config_beep_set, ao_config_beep_show }, #endif #if HAS_TRACKER - { "t \0Tracker start trigger distances", + { "t \0Tracker configuration", ao_config_tracker_set, ao_config_tracker_show }, #endif { "s\0Show", diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index 77f73fbe..2b5cd352 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -96,8 +96,8 @@ struct ao_config { uint8_t mid_beep; /* minor version 16 */ #endif #if HAS_TRACKER - uint16_t tracker_start_horiz; /* minor version 17 */ - uint16_t tracker_start_vert; /* minor version 17 */ + uint16_t tracker_motion; /* minor version 17 */ + uint8_t tracker_interval; /* minor version 17 */ #endif #if AO_PYRO_NUM uint16_t pyro_time; /* minor version 18 */ diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c index e9e573a5..8bf529f4 100644 --- a/src/kernel/ao_log_gps.c +++ b/src/kernel/ao_log_gps.c @@ -60,51 +60,17 @@ ao_log_gps(__xdata struct ao_log_gps *log) __reentrant return wrote; } - -static int32_t prev_lat, prev_lon; -static int16_t prev_alt; -static uint8_t has_prev, unmoving; - -#define GPS_SPARSE_UNMOVING_REPORTS 10 -#define GPS_SPARSE_UNMOVING_GROUND 10 -#define GPS_SPARSE_UNMOVING_AIR 10 - -uint8_t -ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt) -{ - if (has_prev && ao_log_running) { - uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon); - uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt); - - if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) { - if (unmoving < GPS_SPARSE_UNMOVING_REPORTS) - ++unmoving; - } else - unmoving = 0; - } else - unmoving = 0; - - prev_lat = lat; - prev_lon = lon; - prev_alt = alt; - has_prev = 1; - return unmoving >= GPS_SPARSE_UNMOVING_REPORTS; -} - void ao_log_gps_flight(void) { log.type = AO_LOG_FLIGHT; log.tick = ao_time(); log.u.flight.flight = ao_flight_number; - log.u.flight.start_altitude = ao_tracker_start_altitude; - log.u.flight.start_latitude = ao_tracker_start_latitude; - log.u.flight.start_longitude = ao_tracker_start_longitude; ao_log_gps(&log); } void -ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data) +ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data) { log.tick = tick; log.type = AO_LOG_GPS_TIME; @@ -126,7 +92,6 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_ log.u.gps.hdop = gps_data->hdop; log.u.gps.vdop = gps_data->vdop; log.u.gps.mode = gps_data->mode; - log.u.gps.state = state; ao_log_gps(&log); } diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h index 733db19b..5851f4d1 100644 --- a/src/kernel/ao_log_gps.h +++ b/src/kernel/ao_log_gps.h @@ -18,6 +18,9 @@ #include "ao.h" #include "ao_telemetry.h" +#ifndef _AO_LOG_GPS_H_ +#define _AO_LOG_GPS_H_ + uint8_t ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt); @@ -25,8 +28,6 @@ void ao_log_gps_flight(void); void -ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data); - -void -ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data); +ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data); +#endif /* _AO_LOG_GPS_H_ */ diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index cdf147cd..fb9e75d0 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -23,10 +23,7 @@ #include #include -enum ao_flight_state ao_flight_state; - -static uint8_t ao_tracker_force_telem; -static uint8_t ao_tracker_force_launch; +static uint8_t ao_tracker_force_telem; #if HAS_USB_CONNECT static inline uint8_t @@ -38,157 +35,22 @@ ao_usb_connected(void) #define ao_usb_connected() 1 #endif -#define STARTUP_AVERAGE 5 - -int32_t ao_tracker_start_latitude; -int32_t ao_tracker_start_longitude; -int16_t ao_tracker_start_altitude; - -struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING]; -uint8_t ao_tracker_head; -static uint8_t ao_tracker_log_pos; - -static uint16_t telem_rate; -static uint8_t gps_rate; -static uint8_t telem_enabled; - -static int64_t lat_sum, lon_sum; -static int32_t alt_sum; -static int nsamples; - -static void -ao_tracker_state_update(struct ao_tracker_data *tracker) -{ - uint16_t new_telem_rate; - uint8_t new_gps_rate; - uint8_t new_telem_enabled; - uint32_t ground_distance; - int16_t height; - uint16_t speed; - - new_gps_rate = gps_rate; - new_telem_rate = telem_rate; - - new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected(); - - /* Don't change anything if GPS isn't locked */ - if ((tracker->new & AO_GPS_NEW_DATA) && - (tracker->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: - new_telem_rate = AO_SEC_TO_TICKS(1); - new_gps_rate = 1; - - /* startup to pad when GPS locks */ - - lat_sum += tracker->gps_data.latitude; - lon_sum += tracker->gps_data.longitude; - alt_sum += tracker->gps_data.altitude; - - ++nsamples; - - if (nsamples >= STARTUP_AVERAGE) { - ao_flight_state = ao_flight_pad; - ao_wakeup(&ao_flight_state); - ao_tracker_start_latitude = lat_sum / nsamples; - ao_tracker_start_longitude = lon_sum / nsamples; - ao_tracker_start_altitude = alt_sum / nsamples; - } - break; - case ao_flight_pad: - new_telem_rate = AO_SEC_TO_TICKS(1); - new_gps_rate = 1; - - ground_distance = ao_distance(tracker->gps_data.latitude, - tracker->gps_data.longitude, - ao_tracker_start_latitude, - ao_tracker_start_longitude); - height = tracker->gps_data.altitude - ao_tracker_start_altitude; - if (height < 0) - height = -height; - - if (ground_distance >= ao_config.tracker_start_horiz || - height >= ao_config.tracker_start_vert || - ao_tracker_force_launch) - { - ao_flight_state = ao_flight_drogue; - ao_wakeup(&ao_flight_state); - ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head); - ao_log_start(); - ao_log_gps_flight(); - } - break; - case ao_flight_drogue: - /* Modulate data rates based on speed (in cm/s) */ - if (tracker->gps_data.climb_rate < 0) - speed = -tracker->gps_data.climb_rate; - else - speed = tracker->gps_data.climb_rate; - speed += tracker->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; - } - } - - 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; - } -} - -#if HAS_LOG -static uint8_t ao_tracker_should_log; - -static void -ao_tracker_log(void) -{ - struct ao_tracker_data *tracker; - - if (ao_log_running) { - while (ao_tracker_log_pos != ao_tracker_head) { - tracker = &ao_tracker_data[ao_tracker_log_pos]; - if (tracker->new & AO_GPS_NEW_DATA) { - ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude, - tracker->gps_data.longitude, - tracker->gps_data.altitude); - if (ao_tracker_should_log) - ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data); - } - if (tracker->new & AO_GPS_NEW_TRACKING) { - if (ao_tracker_should_log) - ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data); - } - ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos); - } - } -} -#endif +static int32_t last_log_latitude, last_log_longitude; +static int16_t last_log_altitude; +static uint8_t unmoving; +static uint8_t log_started; +static struct ao_telemetry_location gps_data; +static uint8_t tracker_running; +static uint16_t tracker_interval; static void ao_tracker(void) { - uint8_t new; - struct ao_tracker_data *tracker; + uint8_t new; + int32_t ground_distance; + int16_t height; + uint16_t gps_tick; + uint8_t new_tracker_running; #if HAS_ADC ao_timer_set_adc_interval(100); @@ -197,45 +59,83 @@ ao_tracker(void) #if !HAS_USB_CONNECT ao_tracker_force_telem = 1; #endif - - nsamples = 0; - lat_sum = 0; - lon_sum = 0; - alt_sum = 0; - ao_log_scan(); + ao_log_start(); ao_rdf_set(1); - ao_telemetry_set_interval(0); - telem_rate = AO_SEC_TO_TICKS(1); - telem_enabled = 0; - gps_rate = 1; - ao_flight_state = ao_flight_startup; + tracker_interval = ao_config.tracker_interval; + ao_gps_set_rate(tracker_interval); + for (;;) { + + /** Wait for new GPS data + */ while (!(new = ao_gps_new)) ao_sleep(&ao_gps_new); - - /* Stick GPS data into the ring */ ao_mutex_get(&ao_gps_mutex); - tracker = &ao_tracker_data[ao_tracker_head]; - tracker->tick = ao_gps_tick; - tracker->new = new; - tracker->state = ao_flight_state; - tracker->gps_data = ao_gps_data; - tracker->gps_tracking_data = ao_gps_tracking_data; - ao_tracker_head = ao_tracker_ring_next(ao_tracker_head); - + gps_data = ao_gps_data; + gps_tick = ao_gps_tick; ao_gps_new = 0; ao_mutex_put(&ao_gps_mutex); - /* Update state based on current GPS data */ - ao_tracker_state_update(tracker); + new_tracker_running = ao_tracker_force_telem || !ao_usb_connected(); -#if HAS_LOG - /* Log all gps data */ - ao_tracker_log(); -#endif + if (ao_config.tracker_interval != tracker_interval) { + tracker_interval = ao_config.tracker_interval; + ao_gps_set_rate(tracker_interval); + + /* force telemetry interval to be reset */ + tracker_running = 0; + } + + if (new_tracker_running && !tracker_running) { + ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval)); + } else if (!new_tracker_running && tracker_running) { + ao_telemetry_set_interval(0); + } + + tracker_running = new_tracker_running; + + if (!tracker_running) + continue; + + if (new & AO_GPS_NEW_DATA) { + if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) == + (AO_GPS_VALID|AO_GPS_COURSE_VALID)) + { + if (log_started) { + ground_distance = ao_distance(gps_data.latitude, gps_data.longitude, + last_log_latitude, last_log_longitude); + height = last_log_altitude - gps_data.altitude; + if (height < 0) + height = -height; + if (ground_distance <= ao_config.tracker_motion && + height <= ao_config.tracker_motion) + { + if (unmoving < AO_TRACKER_MOTION_COUNT) + unmoving++; + } else + unmoving = 0; + } + } else { + if (!log_started) + continue; + if (unmoving < AO_TRACKER_MOTION_COUNT) + unmoving++; + } + + if (unmoving < AO_TRACKER_MOTION_COUNT) { + if (!log_started) { + ao_log_gps_flight(); + log_started = 1; + } + ao_log_gps_data(gps_tick, &gps_data); + last_log_latitude = gps_data.latitude; + last_log_longitude = gps_data.longitude; + last_log_altitude = gps_data.altitude; + } + } } } @@ -244,18 +144,23 @@ static struct ao_task ao_tracker_task; static void ao_tracker_set_telem(void) { - uint8_t telem, launch; + uint8_t telem; ao_cmd_hex(); telem = ao_cmd_lex_i; - ao_cmd_hex(); - launch = ao_cmd_lex_i; - if (ao_cmd_status == ao_cmd_success) { + if (ao_cmd_status == ao_cmd_success) ao_tracker_force_telem = telem; - ao_tracker_force_launch = launch; - } ao_cmd_status = ao_cmd_success; - printf ("flight %d force telem %d force launch %d\n", - ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch); + printf ("flight: %d\n", ao_flight_number); + printf ("force_telem: %d\n", ao_tracker_force_telem); + printf ("log_started: %d\n", log_started); + printf ("unmoving: %d\n", unmoving); + printf ("latitude: %ld\n", (long) gps_data.latitude); + printf ("longitude: %ld\n", (long) gps_data.longitude); + printf ("altitude: %d\n", gps_data.altitude); + printf ("log_running: %d\n", ao_log_running); + printf ("log_start_pos: %ld\n", (long) ao_log_start_pos); + printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos); + printf ("log_end_pos: %ld\n", (long) ao_log_end_pos); } static const struct ao_cmds ao_tracker_cmds[] = { diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h index 63bdaf2f..a0fd2f49 100644 --- a/src/kernel/ao_tracker.h +++ b/src/kernel/ao_tracker.h @@ -18,31 +18,12 @@ #ifndef _AO_TRACKER_H_ #define _AO_TRACKER_H_ -#define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ 1000 -#define AO_CONFIG_DEFAULT_TRACKER_START_VERT 100 +/* Any motion more than this will result in a log entry */ -/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */ -#define AO_TRACKER_NOT_MOVING 200 +#define AO_TRACKER_MOTION_DEFAULT 10 +#define AO_TRACKER_INTERVAL_DEFAULT 1 -extern int32_t ao_tracker_start_latitude; -extern int32_t ao_tracker_start_longitude; -extern int16_t ao_tracker_start_altitude; - -#define AO_TRACKER_RING 4 - -struct ao_tracker_data { - uint16_t tick; - uint8_t new; - uint8_t state; - struct ao_telemetry_location gps_data; - struct ao_telemetry_satellite gps_tracking_data; -}; - -extern struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING]; -extern uint8_t ao_tracker_head; - -#define ao_tracker_ring_next(n) (((n) + 1) & (AO_TRACKER_RING-1)) -#define ao_tracker_ring_prev(n) (((n) - 1) & (AO_TRACKER_RING-1)) +#define AO_TRACKER_MOTION_COUNT 10 void ao_tracker_init(void); diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c index bc7eeea8..dd699ecf 100644 --- a/src/telegps-v0.3/ao_telegps.c +++ b/src/telegps-v0.3/ao_telegps.c @@ -52,7 +52,6 @@ main(void) ao_tracker_init(); ao_telemetry_init(); - ao_telemetry_set_interval(AO_SEC_TO_TICKS(1)); #if HAS_SAMPLE_PROFILE ao_sample_profile_init(); diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c index 1185a5dd..7a71699b 100644 --- a/src/telegps-v1.0/ao_telegps.c +++ b/src/telegps-v1.0/ao_telegps.c @@ -55,7 +55,6 @@ main(void) ao_tracker_init(); ao_telemetry_init(); - ao_telemetry_set_interval(AO_SEC_TO_TICKS(1)); #if HAS_SAMPLE_PROFILE ao_sample_profile_init();