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Diffstat (limited to 'src/kernel/ao_flight.c')
| -rw-r--r-- | src/kernel/ao_flight.c | 472 |
1 files changed, 472 insertions, 0 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c new file mode 100644 index 00000000..24099347 --- /dev/null +++ b/src/kernel/ao_flight.c @@ -0,0 +1,472 @@ +/* + * Copyright © 2009 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef AO_FLIGHT_TEST +#include "ao.h" +#include <ao_log.h> +#endif + +#if HAS_MPU6000 +#include <ao_quaternion.h> +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#ifndef HAS_TELEMETRY +#define HAS_TELEMETRY HAS_RADIO +#endif + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_boost_tick; /* time of launch detect */ +__pdata uint16_t ao_motor_number; /* number of motors burned so far */ + +#if HAS_SENSOR_ERRORS +/* Any sensor can set this to mark the flight computer as 'broken' */ +__xdata uint8_t ao_sensor_errors; +#endif + +/* + * track min/max data over a long interval to detect + * resting + */ +static __data uint16_t ao_interval_end; +static __data int16_t ao_interval_min_height; +static __data int16_t ao_interval_max_height; +#if HAS_ACCEL +static __data int16_t ao_coast_avg_accel; +#endif + +__pdata uint8_t ao_flight_force_idle; + +/* We also have a clock, which can be used to sanity check things in + * case of other failures + */ + +#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) + +/* Landing is detected by getting constant readings from both pressure and accelerometer + * for a fairly long time (AO_INTERVAL_TICKS) + */ +#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10) + +#define abs(a) ((a) < 0 ? -(a) : (a)) + +void +ao_flight(void) +{ + ao_sample_init(); + ao_flight_state = ao_flight_startup; + for (;;) { + + /* + * Process ADC samples, just looping + * until the sensors are calibrated. + */ + if (!ao_sample()) + continue; + + switch (ao_flight_state) { + case ao_flight_startup: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + ao_config.accel_minus_g == 0 || + ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP || + ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP || + ao_ground_height < -1000 || + ao_ground_height > 7000) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + +#if HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in invalid mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + +#if !HAS_ACCEL && PACKET_HAS_SLAVE + /* Disable packet mode in pad state on TeleMini */ + ao_packet_slave_stop(); +#endif + +#if HAS_TELEMETRY + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); +#endif +#if AO_LED_RED + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); +#endif + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; +#if HAS_SENSOR_ERRORS + if (ao_sensor_errors) + ao_flight_state = ao_flight_invalid; +#endif + +#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in idle mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + +#if AO_LED_RED + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); +#endif + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to boost: + * + * barometer: > 20m vertical motion + * OR + * accelerometer: > 2g AND velocity > 5m/s + * + * The accelerometer should always detect motion before + * the barometer, but we use both to make sure this + * transition is detected. If the device + * doesn't have an accelerometer, then ignore the + * speed and acceleration as they are quite noisy + * on the pad. + */ + if (ao_height > AO_M_TO_HEIGHT(20) +#if HAS_ACCEL + || (ao_accel > AO_MSS_TO_ACCEL(20) && + ao_speed > AO_MS_TO_SPEED(5)) +#endif + ) + { + ao_flight_state = ao_flight_boost; + ao_boost_tick = ao_sample_tick; + + /* start logging data */ + ao_log_start(); + +#if HAS_TELEMETRY + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); +#endif + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; + ao_wakeup(&ao_gps_new); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_boost: + + /* boost to fast: + * + * accelerometer: start to fall at > 1/4 G + * OR + * time: boost for more than 15 seconds + * + * Detects motor burn out by the switch from acceleration to + * deceleration, or by waiting until the maximum burn duration + * (15 seconds) has past. + */ + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) + { +#if HAS_ACCEL + ao_flight_state = ao_flight_fast; + ao_coast_avg_accel = ao_accel; +#else + ao_flight_state = ao_flight_coast; +#endif + ++ao_motor_number; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; +#if HAS_ACCEL + case ao_flight_fast: + /* + * This is essentially the same as coast, + * but the barometer is being ignored as + * it may be unreliable. + */ + if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) + { + ao_flight_state = ao_flight_coast; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } else + goto check_re_boost; + break; +#endif + case ao_flight_coast: + + /* + * By customer request - allow the user + * to lock out apogee detection for a specified + * number of seconds. + */ + if (ao_config.apogee_lockout) { + if ((ao_sample_tick - ao_boost_tick) < + AO_SEC_TO_TICKS(ao_config.apogee_lockout)) + break; + } + + /* apogee detect: coast to drogue deploy: + * + * speed: < 0 + * + * Also make sure the model altitude is tracking + * the measured altitude reasonably closely; otherwise + * we're probably transsonic. + */ + if (ao_speed < 0 +#if !HAS_ACCEL + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) +#endif + ) + { +#if HAS_IGNITE + /* ignite the drogue charge */ + ao_ignite(ao_igniter_drogue); +#endif + +#if HAS_TELEMETRY + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* Turn the RDF beacon back on */ + ao_rdf_set(1); +#endif + + /* and enter drogue state */ + ao_flight_state = ao_flight_drogue; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } +#if HAS_ACCEL + else { + check_re_boost: + ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { + ao_boost_tick = ao_sample_tick; + ao_flight_state = ao_flight_boost; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + } +#endif + + break; + case ao_flight_drogue: + + /* drogue to main deploy: + * + * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? + */ + if (ao_height <= ao_config.main_deploy) + { +#if HAS_IGNITE + ao_ignite(ao_igniter_main); +#endif + + /* + * Start recording min/max height + * to figure out when the rocket has landed + */ + + /* initialize interval values */ + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + + ao_flight_state = ao_flight_main; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + + /* fall through... */ + case ao_flight_main: + + /* main to land: + * + * barometer: altitude stable + */ + + if (ao_avg_height < ao_interval_min_height) + ao_interval_min_height = ao_avg_height; + if (ao_avg_height > ao_interval_max_height) + ao_interval_max_height = ao_avg_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4)) + { + ao_flight_state = ao_flight_landed; + + /* turn off the ADC capture */ + ao_timer_set_adc_interval(0); + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; +#if HAS_FLIGHT_DEBUG + case ao_flight_test: +#if HAS_GYRO + printf ("angle %4d pitch %7d yaw %7d roll %7d\n", + ao_sample_orient, + ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9, + ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9, + ((ao_sample_roll << 9) - ao_ground_roll) >> 9); +#endif + flush(); + break; +#endif /* HAS_FLIGHT_DEBUG */ + default: + break; + } + } +} + +#if HAS_FLIGHT_DEBUG +static inline int int_part(int16_t i) { return i >> 4; } +static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; } + +static void +ao_flight_dump(void) +{ +#if HAS_ACCEL + int16_t accel; + + accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; +#endif + + printf ("sample:\n"); + printf (" tick %d\n", ao_sample_tick); + printf (" raw pres %d\n", ao_sample_pres); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); +#endif + printf (" ground pres %d\n", ao_ground_pres); + printf (" ground alt %d\n", ao_ground_height); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); + printf (" groundaccel %d\n", ao_ground_accel); + printf (" accel_2g %d\n", ao_accel_2g); +#endif + + printf (" alt %d\n", ao_sample_alt); + printf (" height %d\n", ao_sample_height); +#if HAS_ACCEL + printf (" accel %d.%02d\n", int_part(accel), frac_part(accel)); +#endif + + + printf ("kalman:\n"); + printf (" height %d\n", ao_height); + printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); + printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); + printf (" max_height %d\n", ao_max_height); + printf (" avg_height %d\n", ao_avg_height); + printf (" error_h %d\n", ao_error_h); + printf (" error_avg %d\n", ao_error_h_sq_avg); +} + +static void +ao_gyro_test(void) +{ + ao_flight_state = ao_flight_test; + ao_getchar(); + ao_flight_state = ao_flight_idle; +} + +uint8_t ao_orient_test; + +static void +ao_orient_test_select(void) +{ + ao_orient_test = !ao_orient_test; +} + +__code struct ao_cmds ao_flight_cmds[] = { + { ao_flight_dump, "F\0Dump flight status" }, + { ao_gyro_test, "G\0Test gyro code" }, + { ao_orient_test_select,"O\0Test orientation code" }, + { 0, NULL }, +}; +#endif + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; +#if HAS_FLIGHT_DEBUG + ao_cmd_register(&ao_flight_cmds[0]); +#endif + ao_add_task(&flight_task, ao_flight, "flight"); +} |