diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/kernel/ao_flight.c | 6 | ||||
| -rw-r--r-- | src/kernel/ao_kalman.c | 35 | ||||
| -rw-r--r-- | src/kernel/ao_sample.c | 2 | ||||
| -rw-r--r-- | src/kernel/ao_sample.h | 9 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 81 | ||||
| -rwxr-xr-x | src/test/plottest | 13 |
6 files changed, 92 insertions, 54 deletions
diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 50f2b68f..f06125cd 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -269,7 +269,7 @@ ao_flight(void) * number of seconds. */ if (ao_config.apogee_lockout) { - if ((ao_sample_tick - ao_boost_tick) < + if ((int16_t) (ao_sample_tick - ao_boost_tick) < AO_SEC_TO_TICKS(ao_config.apogee_lockout)) break; } @@ -282,9 +282,11 @@ ao_flight(void) * the measured altitude reasonably closely; otherwise * we're probably transsonic. */ +#define AO_ERROR_BOUND 100 + if (ao_speed < 0 #if !HAS_ACCEL - && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < AO_ERROR_BOUND) #endif ) { diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 69a1b3de..ac41085d 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -45,7 +45,9 @@ static __pdata ao_k_t ao_avg_height_scaled; __xdata ao_v_t ao_avg_height; __pdata ao_v_t ao_error_h; +#if !HAS_ACCEL __pdata ao_v_t ao_error_h_sq_avg; +#endif #if HAS_ACCEL __pdata ao_v_t ao_error_a; @@ -55,14 +57,14 @@ static void ao_kalman_predict(void) { #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) { ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 + (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4; ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1; return; } - if (ao_sample_tick - ao_sample_prev_tick > 5) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) { ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 + (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4; ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10; @@ -83,7 +85,9 @@ ao_kalman_predict(void) static void ao_kalman_err_height(void) { +#if !HAS_ACCEL ao_v_t e; +#endif ao_v_t height_distrust; #if HAS_ACCEL ao_v_t speed_distrust; @@ -91,15 +95,12 @@ ao_kalman_err_height(void) ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16); +#if !HAS_ACCEL e = ao_error_h; if (e < 0) e = -e; if (e > 127) e = 127; -#if HAS_ACCEL - ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2; - ao_error_h_sq_avg += (e * e) >> 2; -#else ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4; ao_error_h_sq_avg += (e * e) >> 4; #endif @@ -108,13 +109,13 @@ ao_kalman_err_height(void) return; height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT; #if HAS_ACCEL - /* speed is stored * 16, but we need to ramp between 200 and 328, so + /* speed is stored * 16, but we need to ramp between 248 and 328, so * we want to multiply by 2. The result is a shift by 3. */ speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1); - if (speed_distrust <= 0) - speed_distrust = 0; - else if (speed_distrust > height_distrust) + if (speed_distrust > AO_MAX_SPEED_DISTRUST) + speed_distrust = AO_MAX_SPEED_DISTRUST; + if (speed_distrust > height_distrust) height_distrust = speed_distrust; #endif if (height_distrust > 0) { @@ -141,13 +142,13 @@ ao_kalman_correct_baro(void) { ao_kalman_err_height(); #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) { ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h; ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h; ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h; return; } - if (ao_sample_tick - ao_sample_prev_tick > 5) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) { ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h; ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h; ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h; @@ -180,7 +181,7 @@ ao_kalman_correct_both(void) ao_kalman_err_accel(); #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) { if (ao_flight_debug) { printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n", ao_k_speed / (65536.0 * 16.0), @@ -201,7 +202,7 @@ ao_kalman_correct_both(void) (ao_k_t) AO_BOTH_K21_1 * ao_error_a; return; } - if (ao_sample_tick - ao_sample_prev_tick > 5) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) { if (ao_flight_debug) { printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n", ao_k_speed / (65536.0 * 16.0), @@ -250,7 +251,7 @@ ao_kalman_correct_accel(void) { ao_kalman_err_accel(); - if (ao_sample_tick - ao_sample_prev_tick > 5) { + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) { ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a; ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a; ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a; @@ -285,9 +286,9 @@ ao_kalman(void) ao_max_height = ao_height; ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height; #ifdef AO_FLIGHT_TEST - if (ao_sample_tick - ao_sample_prev_tick > 50) + if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) ao_avg_height = (ao_avg_height_scaled + 1) >> 1; - else if (ao_sample_tick - ao_sample_prev_tick > 5) + else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) ao_avg_height = (ao_avg_height_scaled + 7) >> 4; else #endif diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 90ea07ad..f0ab0169 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -180,7 +180,7 @@ static void ao_sample_rotate(void) { #ifdef AO_FLIGHT_TEST - float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV; + float dt = (int16_t) (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV; #else static const float dt = 1/TIME_DIV; #endif diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h index da40187b..fbef031d 100644 --- a/src/kernel/ao_sample.h +++ b/src/kernel/ao_sample.h @@ -95,7 +95,12 @@ typedef int16_t ao_v_t; /* * Above this speed, baro measurements are unreliable */ -#define AO_MAX_BARO_SPEED 200 +#define AO_MAX_BARO_SPEED 248 + +/* The maximum amount (in a range of 0-256) to de-rate the + * baro sensor data based on speed. + */ +#define AO_MAX_SPEED_DISTRUST 160 #define ACCEL_NOSE_UP (ao_accel_2g >> 2) @@ -175,7 +180,9 @@ extern __xdata ao_v_t ao_max_height; /* max of ao_height */ extern __xdata ao_v_t ao_avg_height; /* running average of height */ extern __pdata ao_v_t ao_error_h; +#if !HAS_ACCEL extern __pdata ao_v_t ao_error_h_sq_avg; +#endif #if HAS_ACCEL extern __pdata ao_v_t ao_error_a; 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; diff --git a/src/test/plottest b/src/test/plottest index 7d253ff1..95337f10 100755 --- a/src/test/plottest +++ b/src/test/plottest @@ -7,10 +7,11 @@ set ytics border out nomirror set y2tics border out nomirror plot "$1" using 1:3 with lines axes x1y1 title "raw height",\ "$1" using 1:5 with lines axes x1y2 title "raw accel",\ -"$1" using 1:9 with lines axes x1y1 title "height",\ -"$1" using 1:11 with lines axes x1y2 title "speed",\ -"$1" using 1:13 with lines axes x1y2 title "accel",\ -"$1" using 1:17 with lines axes x1y1 title "drogue",\ -"$1" using 1:19 with lines axes x1y1 title "main",\ -"$1" using 1:21 with lines axes x1y1 title "error" +"$1" using 1:7 with lines axes x1y2 title "accel speed",\ +"$1" using 1:11 with lines axes x1y1 title "height",\ +"$1" using 1:13 with lines axes x1y2 title "speed",\ +"$1" using 1:15 with lines axes x1y2 title "accel",\ +"$1" using 1:19 with lines axes x1y1 title "drogue",\ +"$1" using 1:21 with lines axes x1y1 title "main",\ +"$1" using 1:23 with lines axes x1y1 title "error" EOF |