mjb/altos/src/ao_flight.c, branch debian/1.2.1-1

altos: Restructure altos build to prepare for multi-arch support

2011-08-26T03:49:11+00:00

Split out sources into separate directories: core: architecture and product independent bits cc1111: cc1111-specific code drivers: architecture independent drivers product: product-specific sources and Makefile fragments util: scripts for building stuff This should have no effect on the built products, but testing is encouraged Signed-off-by: Keith Packard

altos: use raw height while waiting for landing

2011-08-14T06:58:03+00:00

This avoids any noise introduced by the kalman filter, making landing detection much more reliable. This patch also changes the interval to 10s so that the height bounds can be increased to 4m. Signed-off-by: Keith Packard

altos: Require sequencing through 'main' state before landing

2011-08-02T09:09:23+00:00

The old version of the code would permit the flight to go straight from 'drogue' to 'landed' without passing through 'main' at all. This meant that a false landing detection would leave the main charge unfired, potentially causing the airframe to land on drogue alone. Requiring that the flight sequence pass through main ensures that the main charge will get fired at the right time, although if the airframe lands higher than that altitude, it will not go to 'landed' mode ever. Signed-off-by: Keith Packard

altos: Average height values for landing detection

2011-08-02T07:30:08+00:00

Instead of using the direct output of the kalman filter and hoping that is quiet enough to detect landing, filter that with a long exponential decay filter and then check to make sure that doesn't change more than 2m in 5 seconds as a trigger for landing detection. Tested with existing telemetrum flight logs and it correctly detects landing in all cases. Signed-off-by: Keith Packard

altos: Switch ao_flight and ao_flight_nano xdata to pdata

2011-07-06T22:51:52+00:00

Signed-off-by: Keith Packard

altos: Run RDF beacon after apogee instead of waiting for landing

2011-03-30T01:10:46+00:00

This provides tracking when GPS fails, or on TeleMini. Signed-off-by: Keith Packard

altos: Split up flight code into separate flight/sample/kalman bits

2011-03-29T00:54:44+00:00

The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard

altos: Ignore alt error for fast->coast. Allow larger error for baro apogee.

2011-03-23T01:33:38+00:00

With the fixed kalman filter, transitions across mach don't cause bumps in the merged filter. And, with working kalman bits, the signal for broken baro detection is stronger and so we can allow for baro apogee detection in cases where noise occurs close to apogee. Bump the kalman filter to trust the baro less so that the model tracks across mach. Signed-off-by: Keith Packard

altos: Missing parens and some bad arithmetic in the kalman code

2011-03-22T12:53:34+00:00

Fixed point computations are a pain. Signed-off-by: Keith Packard

altos: Add ao_flight_debug code