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-rw-r--r--src/ao.h10
-rw-r--r--src/ao_config.c61
-rw-r--r--src/ao_flight.c46
-rw-r--r--src/ao_flight_test.c7
4 files changed, 78 insertions, 46 deletions
diff --git a/src/ao.h b/src/ao.h
index 4cceefe1..22e8785f 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -117,8 +117,9 @@ ao_panic(uint8_t reason);
*/
/* Our timer runs at 100Hz */
-#define AO_MS_TO_TICKS(ms) ((ms) / 10)
-#define AO_SEC_TO_TICKS(s) ((s) * 100)
+#define AO_HERTZ 100
+#define AO_MS_TO_TICKS(ms) ((ms) / (1000 / AO_HERTZ))
+#define AO_SEC_TO_TICKS(s) ((s) * AO_HERTZ)
/* Returns the current time in ticks */
uint16_t
@@ -928,16 +929,17 @@ ao_igniter_init(void);
*/
#define AO_CONFIG_MAJOR 1
-#define AO_CONFIG_MINOR 1
+#define AO_CONFIG_MINOR 2
struct ao_config {
uint8_t major;
uint8_t minor;
uint16_t main_deploy;
- int16_t accel_zero_g;
+ int16_t accel_plus_g;
uint8_t radio_channel;
char callsign[AO_MAX_CALLSIGN + 1];
uint8_t apogee_delay;
+ int16_t accel_minus_g;
};
extern __xdata struct ao_config ao_config;
diff --git a/src/ao_config.c b/src/ao_config.c
index 021fb6f6..85fcff8c 100644
--- a/src/ao_config.c
+++ b/src/ao_config.c
@@ -45,7 +45,8 @@ _ao_config_get(void)
ao_config.minor = AO_CONFIG_MINOR;
ao_config.main_deploy = AO_CONFIG_DEFAULT_MAIN_DEPLOY;
ao_config.radio_channel = AO_CONFIG_DEFAULT_RADIO_CHANNEL;
- ao_config.accel_zero_g = AO_CONFIG_DEFAULT_ACCEL_ZERO_G;
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
memset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
memcpy(&ao_config.callsign, AO_CONFIG_DEFAULT_CALLSIGN,
sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
@@ -53,9 +54,14 @@ _ao_config_get(void)
ao_config_dirty = 1;
}
if (ao_config.minor < AO_CONFIG_MINOR) {
- /* Fixups for major version 1 */
+ /* Fixups for mior version 1 */
if (ao_config.minor < 1)
ao_config.apogee_delay = AO_CONFIG_DEFAULT_APOGEE_DELAY;
+ /* Fixupes for minor version 2 */
+ if (ao_config.minor < 2) {
+ ao_config.accel_plus_g = 0;
+ ao_config.accel_minus_g = 0;
+ }
ao_config.minor = AO_CONFIG_MINOR;
ao_config_dirty = 1;
}
@@ -152,23 +158,28 @@ ao_config_main_deploy_set(void) __reentrant
}
void
-ao_config_accel_zero_g_show(void) __reentrant
+ao_config_accel_calibrate_show(void) __reentrant
{
- printf("Accel zero g point: %d\n",
- ao_config.accel_zero_g);
+ printf("Accel cal +1g: %d -1g: %d\n",
+ ao_config.accel_plus_g, ao_config.accel_minus_g);
}
-#define ZERO_G_SAMPLES 1000
+#define ACCEL_CALIBRATE_SAMPLES 1024
+#define ACCEL_CALIBRATE_SHIFT 10
static int16_t
-ao_config_accel_zero_g_auto(void) __reentrant
+ao_config_accel_calibrate_auto(char *orientation) __reentrant
{
uint16_t i;
int32_t accel_total;
uint8_t cal_adc_ring;
- puts("Calibrating accelerometer..."); flush();
- i = ZERO_G_SAMPLES;
+ printf("Orient %s and press a key...", orientation);
+ flush();
+ (void) getchar();
+ puts("\r\n"); flush();
+ puts("Calibrating..."); flush();
+ i = ACCEL_CALIBRATE_SAMPLES;
accel_total = 0;
cal_adc_ring = ao_adc_head;
while (i) {
@@ -179,22 +190,38 @@ ao_config_accel_zero_g_auto(void) __reentrant
i--;
}
}
- return (int16_t) (accel_total / ZERO_G_SAMPLES);
+ return accel_total >> ACCEL_CALIBRATE_SHIFT;
}
+
void
-ao_config_accel_zero_g_set(void) __reentrant
+ao_config_accel_calibrate_set(void) __reentrant
{
+ int16_t up, down;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- if (ao_cmd_lex_i == 0)
- ao_cmd_lex_i = ao_config_accel_zero_g_auto();
+ if (ao_cmd_lex_i == 0) {
+ up = ao_config_accel_calibrate_auto("antenna up");
+ down = ao_config_accel_calibrate_auto("antenna down");
+ } else {
+ up = ao_cmd_lex_i;
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ down = ao_cmd_lex_i;
+ }
+ if (up >= down) {
+ printf("Invalid accel calibration: antenna up (%d) should be less than antenna down (%d)\n",
+ up, down);
+ return;
+ }
ao_mutex_get(&ao_config_mutex);
_ao_config_get();
- ao_config.accel_zero_g = ao_cmd_lex_i;
+ ao_config.accel_plus_g = up;
+ ao_config.accel_minus_g = down;
ao_config_dirty = 1;
ao_mutex_put(&ao_config_mutex);
- ao_config_accel_zero_g_show();
+ ao_config_accel_calibrate_show();
}
void
@@ -237,8 +264,8 @@ ao_config_write(void) __reentrant;
__code struct ao_config_var ao_config_vars[] = {
{ 'm', ao_config_main_deploy_set, ao_config_main_deploy_show,
"m <meters> Set height above launch for main deploy (in meters)" },
- { 'a', ao_config_accel_zero_g_set, ao_config_accel_zero_g_show,
- "a <value> Set accelerometer zero g point (0 for auto)" },
+ { 'a', ao_config_accel_calibrate_set, ao_config_accel_calibrate_show,
+ "a <+g> <-g> Set accelerometer calibration (0 for auto)" },
{ 'r', ao_config_radio_channel_set, ao_config_radio_channel_show,
"r <channel> Set radio channel (freq = 434.550 + channel * .1)" },
{ 'c', ao_config_callsign_set, ao_config_callsign_show,
diff --git a/src/ao_flight.c b/src/ao_flight.c
index e91a5daa..92c955fb 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -48,6 +48,7 @@ __pdata int16_t ao_interval_max_pres;
__data uint8_t ao_flight_adc;
__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
+__pdata int16_t ao_accel_2g;
/* Accelerometer calibration
*
@@ -72,19 +73,18 @@ __pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
#define GRAVITY 9.80665
/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
+#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
#define ACCEL_G 265
-#define ACCEL_ZERO_G 16000
-#define ACCEL_NOSE_UP (ACCEL_G * 2 /3)
-#define ACCEL_BOOST ACCEL_G * 2
+#define ACCEL_NOSE_UP (ao_accel_2g / 4)
+#define ACCEL_BOOST ao_accel_2g
#define ACCEL_INT_LAND (ACCEL_G / 10)
-#define ACCEL_VEL_LAND VEL_MPS_TO_COUNT(10)
#define ACCEL_VEL_MACH VEL_MPS_TO_COUNT(200)
-#define ACCEL_VEL_APOGEE VEL_MPS_TO_COUNT(2)
-#define ACCEL_VEL_MAIN VEL_MPS_TO_COUNT(100)
#define ACCEL_VEL_BOOST VEL_MPS_TO_COUNT(5)
+int32_t accel_vel_mach;
+int32_t accel_vel_boost;
+
/*
* Barometer calibration
*
@@ -170,14 +170,14 @@ ao_flight(void)
* so subtract instead of add.
*/
ticks = ao_flight_tick - ao_flight_prev_tick;
- ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
+ ao_vel_change = ao_ground_accel - (((ao_raw_accel + 1) >> 1) + ((ao_raw_accel_prev + 1) >> 1));
ao_raw_accel_prev = ao_raw_accel;
/* one is a common interval */
if (ticks == 1)
- ao_flight_vel -= (int32_t) ao_vel_change;
+ ao_flight_vel += (int32_t) ao_vel_change;
else
- ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks;
+ ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
@@ -211,6 +211,9 @@ ao_flight(void)
ao_min_pres = ao_ground_pres;
ao_config_get();
ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
+ ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+ accel_vel_mach = ACCEL_VEL_MACH;
+ accel_vel_boost = ACCEL_VEL_BOOST;
ao_flight_vel = 0;
ao_min_vel = 0;
ao_old_vel = ao_flight_vel;
@@ -218,8 +221,9 @@ ao_flight(void)
/* Go to pad state if the nose is pointing up */
ao_config_get();
- if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
-
+ if (ao_config.accel_plus_g != 0 && ao_config.accel_minus_g != 0 &&
+ ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP)
+ {
/* Disable the USB controller in flight mode
* to save power
*/
@@ -337,19 +341,15 @@ ao_flight(void)
/* apogee detect: coast to drogue deploy:
*
- * accelerometer: abs(velocity) > min_velocity + 2m/s
- * OR
* barometer: fall at least 10m
*
- * If the barometer saturates because the flight
- * goes over its measuring range (about 53k'),
- * requiring a 10m fall will avoid prematurely
- * detecting apogee; the accelerometer will take
- * over in that case and the integrated velocity
- * measurement should suffice to find apogee
+ * It would be nice to use the accelerometer
+ * to detect apogee as well, but tests have
+ * shown that flights far from vertical would
+ * grossly mis-detect apogee. So, for now,
+ * we'll trust to a single sensor for this test
*/
- if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
- ao_flight_pres > ao_min_pres + BARO_APOGEE)
+ if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
{
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
@@ -462,7 +462,7 @@ ao_flight_status(void) __reentrant
{
printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
ao_state_names[ao_flight_state],
- AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
+ AO_ACCEL_COUNT_TO_MSS( - ao_flight_accel),
AO_VEL_COUNT_TO_MS(ao_flight_vel),
ao_pres_to_altitude(ao_flight_pres),
ao_pres_to_altitude(ao_main_pres));
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 83c63016..61f48cb6 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -22,6 +22,8 @@
#include <stdlib.h>
#include <string.h>
+#define AO_HERTZ 100
+
#define AO_ADC_RING 64
#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
@@ -144,12 +146,13 @@ ao_altitude_to_pres(int16_t alt) __reentrant
struct ao_config {
uint16_t main_deploy;
- int16_t accel_zero_g;
+ int16_t accel_plus_g;
+ int16_t accel_minus_g;
};
#define ao_config_get()
-struct ao_config ao_config = { 250, 16000 };
+struct ao_config ao_config = { 250, 15937, 16467 };
#include "ao_flight.c"
generated by cgit v1.2.3 (git 2.39.1) at 2025-11-04 14:17:13 +0000