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-rw-r--r--src/ao_flight.c104
-rw-r--r--src/ao_flight_test.c70
-rw-r--r--src/ao_pins.h4
3 files changed, 165 insertions, 13 deletions
diff --git a/src/ao_flight.c b/src/ao_flight.c
index 8e370c4f..e8130baa 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -31,6 +31,10 @@
#error Please define HAS_USB
#endif
+#ifndef USE_KALMAN
+#error Please define USE_KALMAN
+#endif
+
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
@@ -150,6 +154,62 @@ __pdata int16_t ao_old_vel_tick;
__xdata int32_t ao_raw_accel_sum;
#endif
+#if USE_KALMAN
+__pdata int16_t ao_ground_height;
+__pdata int32_t ao_k_max_height;
+__pdata int32_t ao_k_height;
+__pdata int32_t ao_k_speed;
+__pdata int32_t ao_k_accel;
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+
+#define from_fix(x) ((x) >> 16)
+
+#define AO_K0_100 to_fix16(0.05680323)
+#define AO_K1_100 to_fix16(0.16608182)
+#define AO_K2_100 to_fix16(0.24279580)
+
+#define AO_K_STEP_100 to_fix16(0.01)
+#define AO_K_STEP_2_2_100 to_fix16(0.00005)
+
+#define AO_K0_10 to_fix16(0.23772023)
+#define AO_K1_10 to_fix16(0.32214149)
+#define AO_K2_10 to_fix16(0.21827159)
+
+#define AO_K_STEP_10 to_fix16(0.1)
+#define AO_K_STEP_2_2_10 to_fix16(0.005)
+
+static void
+ao_kalman_baro(void)
+{
+ int16_t err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height))
+ - (int16_t) (ao_k_height >> 16);
+
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_tick - ao_flight_prev_tick > 5) {
+ ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 +
+ (ao_k_accel >> 16) * AO_K_STEP_2_2_10);
+ ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10;
+
+ /* correct */
+ ao_k_height += (int32_t) AO_K0_10 * err;
+ ao_k_speed += (int32_t) AO_K1_10 * err;
+ ao_k_accel += (int32_t) AO_K2_10 * err;
+ return;
+ }
+#endif
+ ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 +
+ (ao_k_accel >> 16) * AO_K_STEP_2_2_100);
+ ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100;
+
+ /* correct */
+ ao_k_height += (int32_t) AO_K0_100 * err;
+ ao_k_speed += (int32_t) AO_K1_100 * err;
+ ao_k_accel += (int32_t) AO_K2_100 * err;
+}
+#endif
+
__xdata int32_t ao_raw_pres_sum;
/* Landing is detected by getting constant readings from both pressure and accelerometer
@@ -296,6 +356,10 @@ ao_flight(void)
ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
#endif
+#if USE_KALMAN
+ if (ao_flight_state > ao_flight_idle)
+ ao_kalman_baro();
+#endif
ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
@@ -333,6 +397,9 @@ ao_flight(void)
ao_ground_pres = ao_raw_pres_sum >> 9;
ao_min_pres = ao_ground_pres;
ao_config_get();
+#if USE_KALMAN
+ ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+#endif
ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
#if HAS_ACCEL
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
@@ -369,7 +436,6 @@ ao_flight(void)
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-
#if HAS_USB
/* Disable the USB controller in flight mode
* to save power
@@ -421,14 +487,20 @@ ao_flight(void)
* the barometer, but we use both to make sure this
* transition is detected
*/
+#if USE_KALMAN
+ if ((ao_k_accel > to_fix32(20) &&
+ ao_k_speed > to_fix32(5)) ||
+ ao_k_height > to_fix32(20))
+#else
if (
#if HAS_ACCEL
(ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
ao_flight_vel > ACCEL_VEL_BOOST) ||
#endif
ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
+#endif
{
-#if HAS_ACCEL
+#if HAS_ACCEL || USE_KALMAN
ao_flight_state = ao_flight_boost;
#else
ao_flight_state = ao_flight_coast;
@@ -454,7 +526,7 @@ ao_flight(void)
break;
}
break;
-#if HAS_ACCEL
+#if HAS_ACCEL || USE_KALMAN
case ao_flight_boost:
/* boost to fast:
@@ -467,8 +539,13 @@ ao_flight(void)
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
+#if USE_KALMAN
+ if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) ||
+ (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+#else
if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+#endif
{
ao_flight_state = ao_flight_fast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -492,20 +569,34 @@ ao_flight(void)
* how big a pressure change the mach transition
* generates would be useful here.
*/
+#if USE_KALMAN
+ if (ao_k_speed < to_fix32(200) ||
+ ao_k_height < ao_k_max_height - to_fix32(500))
+#else
if (ao_flight_vel < ACCEL_VEL_MACH ||
ao_flight_pres > ao_min_pres + BARO_COAST)
+#endif
{
+#if HAS_ACCEL
/* set min velocity to current velocity for
* apogee detect
*/
ao_min_vel = abs(ao_flight_vel);
+#endif
ao_flight_state = ao_flight_coast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
-#endif
+#endif /* HAS_ACCEL */
case ao_flight_coast:
+#if USE_KALMAN
+ /* apogee detect: coast to drogue deploy:
+ *
+ * speed: < 0
+ */
+ if (ao_k_speed < 0)
+#else
/* apogee detect: coast to drogue deploy:
*
* barometer: fall at least 10m
@@ -517,6 +608,7 @@ ao_flight(void)
* we'll trust to a single sensor for this test
*/
if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
+#endif
{
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
@@ -569,7 +661,11 @@ ao_flight(void)
* at that point. Perhaps also use the drogue sense lines
* to notice continutity?
*/
+#if USE_KALMAN
+ if (from_fix(ao_k_height) < ao_config.main_deploy)
+#else
if (ao_flight_pres >= ao_main_pres)
+#endif
{
ao_ignite(ao_igniter_main);
ao_flight_state = ao_flight_main;
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index a635803f..16167644 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -21,6 +21,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <getopt.h>
#define AO_HERTZ 100
@@ -62,6 +63,7 @@ enum ao_flight_state {
struct ao_adc ao_adc_ring[AO_ADC_RING];
uint8_t ao_adc_head;
+int ao_summary = 0;
#define ao_led_on(l)
#define ao_led_off(l)
@@ -79,10 +81,13 @@ enum ao_igniter {
ao_igniter_main = 1
};
+struct ao_adc ao_adc_static;
+
void
ao_ignite(enum ao_igniter igniter)
{
- printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
+ printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
+ (double) ao_adc_static.tick / 100.0);
}
struct ao_task {
@@ -99,8 +104,6 @@ struct ao_task {
#define AO_FLIGHT_TEST
-struct ao_adc ao_adc_static;
-
FILE *emulator_in;
void
@@ -140,20 +143,37 @@ struct ao_config ao_config;
#ifndef HAS_ACCEL
#define HAS_ACCEL 1
#define HAS_ACCEL_REF 0
+#define USE_KALMAN 0
+#else
+#define USE_KALMAN 1
#endif
#include "ao_flight.c"
+#define to_double(f) ((f) / 65536.0)
+
void
ao_insert(void)
{
ao_adc_ring[ao_adc_head] = ao_adc_static;
ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ if (ao_summary)
+ return;
if (ao_flight_state != ao_flight_startup) {
+#if USE_KALMAN
+ printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
+ (double) ao_adc_static.tick / 100,
+ ao_adc_static.accel,
+ ao_adc_static.pres,
+ to_double(ao_k_height),
+ to_double(ao_k_speed),
+ to_double(ao_k_accel));
+#else
printf("time %g accel %d pres %d\n",
(double) ao_adc_static.tick / 100,
ao_adc_static.accel,
ao_adc_static.pres);
+#endif
}
}
@@ -269,6 +289,8 @@ ao_dump_state(void)
{
if (ao_flight_state == ao_flight_startup)
return;
+ if (ao_summary)
+ return;
#if HAS_ACCEL
printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
ao_state_names[ao_flight_state],
@@ -286,14 +308,44 @@ ao_dump_state(void)
exit(0);
}
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 0, .val = 's' },
+ { 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary)
+{
+ emulator_in = f;
+ ao_summary = summary;
+ ao_flight_init();
+ ao_flight();
+}
+
int
main (int argc, char **argv)
{
- emulator_in = fopen (argv[1], "r");
- if (!emulator_in) {
- perror(argv[1]);
- exit(1);
+ int summary = 0;
+ int c;
+ int i;
+
+ while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
+ switch (c) {
+ case 's':
+ summary = 1;
+ break;
+ }
}
- ao_flight_init();
- ao_flight();
+
+ if (optind == argc)
+ run_flight_fixed("<stdin>", stdin, summary);
+ else
+ for (i = optind; i < argc; i++) {
+ FILE *f = fopen(argv[i], "r");
+ if (!f) {
+ perror(argv[i]);
+ continue;
+ }
+ run_flight_fixed(argv[i], f, summary);
+ fclose(f);
+ }
}
diff --git a/src/ao_pins.h b/src/ao_pins.h
index 0de39970..353b5fd5 100644
--- a/src/ao_pins.h
+++ b/src/ao_pins.h
@@ -27,6 +27,7 @@
#define HAS_ADC 1
#define HAS_EEPROM 1
#define HAS_DBG 1
+ #define USE_KALMAN 0
#define DBG_ON_P1 1
#define DBG_ON_P0 0
#define IGNITE_ON_P2 1
@@ -50,6 +51,7 @@
#define HAS_ADC 1
#define HAS_EEPROM 1
#define HAS_DBG 1
+ #define USE_KALMAN 0
#define DBG_ON_P1 1
#define DBG_ON_P0 0
#define IGNITE_ON_P2 1
@@ -98,6 +100,7 @@
#define HAS_ADC 1
#define HAS_EEPROM 1
#define HAS_DBG 0
+ #define USE_KALMAN 1
#define IGNITE_ON_P2 0
#define IGNITE_ON_P0 1
#define PACKET_HAS_MASTER 0
@@ -118,6 +121,7 @@
#define HAS_SERIAL_1 1
#define HAS_ADC 1
#define HAS_DBG 0
+ #define USE_KALMAN 0
#define HAS_EEPROM 1
#define DBG_ON_P1 0
#define DBG_ON_P0 1
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 20:44:13 +0000