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Diffstat (limited to 'src/test/ao_flight_test.c')
-rw-r--r--src/test/ao_flight_test.c81
1 files changed, 54 insertions, 27 deletions
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index d3d39f2a..55bfe410 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -72,7 +72,7 @@ struct ao_adc {
#define AO_ADC_NUM_SENSE 2
#define HAS_MS5607 1
#define HAS_MMA655X 1
-#define AO_MMA655X_INVERT 1
+#define AO_MMA655X_INVERT 0
#define HAS_BEEP 1
#define AO_CONFIG_MAX_SIZE 1024
@@ -264,6 +264,7 @@ double main_time;
int tick_offset;
static ao_k_t ao_k_height;
+static double simple_speed;
int16_t
ao_time(void)
@@ -320,7 +321,7 @@ ao_dump_state(void);
void
ao_sleep(void *wchan);
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
"startup", "idle", "pad", "boost", "fast",
"coast", "drogue", "main", "landed", "invalid"
};
@@ -361,6 +362,9 @@ extern int16_t ao_accel_2g;
typedef int16_t accel_t;
+uint16_t ao_serial_number;
+uint16_t ao_flight_number;
+
extern uint16_t ao_sample_tick;
extern alt_t ao_sample_height;
@@ -479,7 +483,6 @@ ao_insert(void)
double time;
ao_data_ring[ao_data_head] = ao_data_static;
- ao_data_head = ao_data_ring_next(ao_data_head);
if (ao_flight_state != ao_flight_startup) {
#if HAS_ACCEL
double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
@@ -487,23 +490,37 @@ ao_insert(void)
#else
double accel = 0.0;
#endif
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
- double height;
-
- ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
- height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
-#else
- double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-#endif
(void) accel;
if (!tick_offset)
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
+ simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+ ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
+ double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
+
+ /* Hack to skip baro spike at accidental drogue charge
+ * firing in 2015-09-26-serial-2093-flight-0012.eeprom
+ * so we can test the kalman filter with this data. Just
+ * keep reporting the same baro value across the pressure spike
+ */
+ {
+ static struct ao_ms5607_sample save;
+ if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
+ ao_data_ring[ao_data_head].ms5607_raw = save;
+ } else {
+ save = ao_data_static.ms5607_raw;
+ }
+ }
+#else
+ double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
+
if (ao_test_max_height < height) {
ao_test_max_height = height;
ao_test_max_height_time = time;
@@ -616,17 +633,27 @@ ao_insert(void)
#endif
#if 1
- printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
- "angle %5d "
+ printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
+ "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
+#if TELEMEGA
+ " angle %5d "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
#endif
- "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+ "\n",
time,
height,
accel,
-#if TELEMEGA && 1
- ao_sample_orient,
+ simple_speed > -100.0 ? simple_speed : -100.0,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ ao_avg_height,
+ drogue_height,
+ main_height,
+ ao_error_h_sq_avg
+#if TELEMEGA
+ , ao_sample_orient,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
@@ -637,22 +664,16 @@ ao_insert(void)
ao_data_static.hmc5883.x,
ao_data_static.hmc5883.y,
ao_data_static.hmc5883.z,
- ao_mag_angle,
+ ao_mag_angle
#endif
- ao_state_names[ao_flight_state],
- ao_k_height / 65536.0,
- ao_k_speed / 65536.0 / 16.0,
- ao_k_accel / 65536.0 / 16.0,
- ao_avg_height,
- drogue_height,
- main_height,
- ao_error_h_sq_avg);
+ );
#endif
-
+
// if (ao_flight_state == ao_flight_landed)
// ao_test_exit();
}
}
+ ao_data_head = ao_data_ring_next(ao_data_head);
}
@@ -763,6 +784,7 @@ ao_sleep(void *wchan)
// printf ("\n");
switch (type) {
case 'F':
+ ao_flight_number = uint16(bytes, 0);
ao_flight_ground_accel = int16(bytes, 2);
ao_flight_started = 1;
ao_ground_pres = int32(bytes, 4);
@@ -872,6 +894,7 @@ ao_sleep(void *wchan)
switch (type) {
case 'F':
ao_flight_started = 1;
+ ao_flight_number = uint16(bytes, 0);
ao_ground_pres = uint32(bytes, 4);
ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
#if 0
@@ -937,6 +960,7 @@ ao_sleep(void *wchan)
// printf ("\n");
switch (type) {
case 'F':
+ ao_flight_number = uint16(bytes, 0);
ao_flight_ground_accel = int16(bytes, 2);
ao_flight_started = 1;
ao_ground_pres = int32(bytes, 4);
@@ -985,6 +1009,8 @@ ao_sleep(void *wchan)
#endif
else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
log_format = strtoul(words[1], NULL, 10);
+ } else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
+ ao_serial_number = strtoul(words[1], NULL, 10);
} else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
ao_config.accel_plus_g = atoi(words[3]);
ao_config.accel_minus_g = atoi(words[5]);
@@ -1107,6 +1133,7 @@ ao_sleep(void *wchan)
switch (type) {
case 'F':
ao_flight_ground_accel = a;
+ ao_flight_number = b;
if (ao_config.accel_plus_g == 0) {
ao_config.accel_plus_g = a;
ao_config.accel_minus_g = a + 530;
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-15 23:34:26 +0000