diff options
Diffstat (limited to 'ao_flight.c')
| -rw-r--r-- | ao_flight.c | 68 |
1 files changed, 62 insertions, 6 deletions
diff --git a/ao_flight.c b/ao_flight.c index 5060b53c..d4f2ae80 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -22,13 +22,30 @@ __xdata struct ao_adc ao_flight_data; /* last acquired data */ __data enum flight_state ao_flight_state; /* current flight state */ -__data uint16_t ao_flight_state_tick; /* time of last data */ +__data uint16_t ao_flight_tick; /* time of last data */ __data int16_t ao_flight_accel; /* filtered acceleration */ __data int16_t ao_flight_pres; /* filtered pressure */ __data int16_t ao_ground_pres; /* startup pressure */ __data int16_t ao_ground_accel; /* startup acceleration */ __data int16_t ao_min_pres; /* minimum recorded pressure */ __data uint16_t ao_launch_time; /* time of launch detect */ +__data int16_t ao_main_pres; /* pressure to eject main */ + +/* + * track min/max data over a long interval to detect + * resting + */ +__data uint16_t ao_interval_end; +__data int16_t ao_interval_cur_min_accel; +__data int16_t ao_interval_cur_max_accel; +__data int16_t ao_interval_cur_min_pres; +__data int16_t ao_interval_cur_max_pres; +__data int16_t ao_interval_min_accel; +__data int16_t ao_interval_max_accel; +__data int16_t ao_interval_min_pres; +__data int16_t ao_interval_max_pres; + +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5) /* Accelerometer calibration * @@ -73,6 +90,8 @@ __data uint16_t ao_launch_time; /* time of launch detect */ #define BARO_kPa 268 #define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa */ #define BARO_APOGEE (BARO_kPa / 10) /* .1kPa */ +#define BARO_MAIN (BARO_kPa) /* 1kPa */ +#define BARO_LAND (BARO_kPa / 20) /* .05kPa */ /* We also have a clock, which can be used to sanity check things in * case of other failures @@ -92,7 +111,17 @@ ao_flight(void) ao_flight_accel += ao_flight_data.accel >> 4; ao_flight_pres -= ao_flight_pres >> 4; ao_flight_pres += ao_flight_data.pres >> 4; + ao_flight_tick = ao_time(); + ao_flight_tick = ao_time(); + if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) { + ao_interval_max_pres = ao_interval_cur_max_pres; + ao_interval_min_pres = ao_interval_cur_min_pres; + ao_interval_max_accel = ao_interval_cur_max_accel; + ao_interval_min_accel = ao_interval_cur_min_accel; + ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS; + } + switch (ao_flight_state) { case ao_flight_startup: if (nsamples < 100) { @@ -102,13 +131,15 @@ ao_flight(void) ao_ground_accel = ao_flight_accel; ao_ground_pres = ao_flight_pres; ao_min_pres = ao_flight_pres; + ao_main_pres = ao_ground_pres - BARO_MAIN; + + ao_interval_end = ao_flight_tick; + if (ao_flight_accel < ACCEL_NOSE_UP) { ao_flight_state = ao_flight_launchpad; - ao_flight_state_tick = ao_time(); ao_report_notify(); } else { ao_flight_state = ao_flight_idle; - ao_flight_state_tick = ao_time(); ao_report_notify(); } /* signal successful initialization by turning off the LED */ @@ -119,7 +150,6 @@ ao_flight(void) ao_flight_pres + BARO_LAUNCH < ao_ground_pres) { ao_flight_state = ao_flight_boost; - ao_flight_state_tick = ao_time(); ao_log_start(); ao_report_notify(); break; @@ -130,7 +160,6 @@ ao_flight(void) (int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX) { ao_flight_state = ao_flight_coast; - ao_flight_state_tick = ao_time(); ao_report_notify(); break; } @@ -140,11 +169,33 @@ ao_flight(void) ao_min_pres = ao_flight_pres; if (ao_flight_pres - BARO_APOGEE > ao_min_pres) { ao_flight_state = ao_flight_apogee; - ao_flight_state_tick = ao_time(); ao_report_notify(); } break; case ao_flight_apogee: +// ao_ignite(AO_IGNITE_DROGUE); + ao_flight_state = ao_flight_drogue; + ao_report_notify(); + break; + case ao_flight_drogue: + if (ao_flight_pres >= ao_main_pres) { +// ao_ignite(AO_IGNITE_MAIN); + ao_flight_state = ao_flight_main; + ao_report_notify(); + } + if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) { + ao_flight_state = ao_flight_landed; + ao_report_notify(); + } + break; + case ao_flight_main: + if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) { + ao_flight_state = ao_flight_landed; + ao_report_notify(); + } + break; + case ao_flight_landed: + ao_log_stop(); break; } } @@ -156,6 +207,11 @@ void ao_flight_init(void) { ao_flight_state = ao_flight_startup; + ao_interval_min_accel = 0; + ao_interval_max_accel = 0x7fff; + ao_interval_min_pres = 0; + ao_interval_max_pres = 0x7fff; + ao_interval_end = AO_INTERVAL_TICKS; ao_add_task(&flight_task, ao_flight); } |