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-rw-r--r--src/kernel/ao_config.c20
-rw-r--r--src/kernel/ao_config.h4
-rw-r--r--src/kernel/ao_log_gps.c37
-rw-r--r--src/kernel/ao_log_gps.h9
-rw-r--r--src/kernel/ao_tracker.c277
-rw-r--r--src/kernel/ao_tracker.h27
-rw-r--r--src/telegps-v0.3/ao_telegps.c1
-rw-r--r--src/telegps-v1.0/ao_telegps.c1
8 files changed, 113 insertions, 263 deletions
diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c
index 72170555..71445335 100644
--- a/src/kernel/ao_config.c
+++ b/src/kernel/ao_config.c
@@ -184,8 +184,8 @@ _ao_config_get(void)
#endif
#if HAS_TRACKER
if (minor < 17) {
- ao_config.tracker_start_horiz = AO_CONFIG_DEFAULT_TRACKER_START_HORIZ;
- ao_config.tracker_start_vert = AO_CONFIG_DEFAULT_TRACKER_START_VERT;
+ ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT;
+ ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT;
}
#endif
#if AO_PYRO_NUM
@@ -695,25 +695,25 @@ void
ao_config_tracker_show(void)
{
printf ("Tracker setting: %d %d\n",
- ao_config.tracker_start_horiz,
- ao_config.tracker_start_vert);
+ ao_config.tracker_motion,
+ ao_config.tracker_interval);
}
void
ao_config_tracker_set(void)
{
- uint16_t h, v;
+ uint16_t m, i;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- h = ao_cmd_lex_i;
+ m = ao_cmd_lex_i;
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
- v = ao_cmd_lex_i;
+ i = ao_cmd_lex_i;
_ao_config_edit_start();
- ao_config.tracker_start_horiz = h;
- ao_config.tracker_start_vert = v;
+ ao_config.tracker_motion = m;
+ ao_config.tracker_interval = i;
_ao_config_edit_finish();
}
#endif /* HAS_TRACKER */
@@ -814,7 +814,7 @@ __code struct ao_config_var ao_config_vars[] = {
ao_config_beep_set, ao_config_beep_show },
#endif
#if HAS_TRACKER
- { "t <horiz> <vert>\0Tracker start trigger distances",
+ { "t <motion> <interval>\0Tracker configuration",
ao_config_tracker_set, ao_config_tracker_show },
#endif
{ "s\0Show",
diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h
index 77f73fbe..2b5cd352 100644
--- a/src/kernel/ao_config.h
+++ b/src/kernel/ao_config.h
@@ -96,8 +96,8 @@ struct ao_config {
uint8_t mid_beep; /* minor version 16 */
#endif
#if HAS_TRACKER
- uint16_t tracker_start_horiz; /* minor version 17 */
- uint16_t tracker_start_vert; /* minor version 17 */
+ uint16_t tracker_motion; /* minor version 17 */
+ uint8_t tracker_interval; /* minor version 17 */
#endif
#if AO_PYRO_NUM
uint16_t pyro_time; /* minor version 18 */
diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index e9e573a5..8bf529f4 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -60,51 +60,17 @@ ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
return wrote;
}
-
-static int32_t prev_lat, prev_lon;
-static int16_t prev_alt;
-static uint8_t has_prev, unmoving;
-
-#define GPS_SPARSE_UNMOVING_REPORTS 10
-#define GPS_SPARSE_UNMOVING_GROUND 10
-#define GPS_SPARSE_UNMOVING_AIR 10
-
-uint8_t
-ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
-{
- if (has_prev && ao_log_running) {
- uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon);
- uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
-
- if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
- if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
- ++unmoving;
- } else
- unmoving = 0;
- } else
- unmoving = 0;
-
- prev_lat = lat;
- prev_lon = lon;
- prev_alt = alt;
- has_prev = 1;
- return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
-}
-
void
ao_log_gps_flight(void)
{
log.type = AO_LOG_FLIGHT;
log.tick = ao_time();
log.u.flight.flight = ao_flight_number;
- log.u.flight.start_altitude = ao_tracker_start_altitude;
- log.u.flight.start_latitude = ao_tracker_start_latitude;
- log.u.flight.start_longitude = ao_tracker_start_longitude;
ao_log_gps(&log);
}
void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
{
log.tick = tick;
log.type = AO_LOG_GPS_TIME;
@@ -126,7 +92,6 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_
log.u.gps.hdop = gps_data->hdop;
log.u.gps.vdop = gps_data->vdop;
log.u.gps.mode = gps_data->mode;
- log.u.gps.state = state;
ao_log_gps(&log);
}
diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h
index 733db19b..5851f4d1 100644
--- a/src/kernel/ao_log_gps.h
+++ b/src/kernel/ao_log_gps.h
@@ -18,6 +18,9 @@
#include "ao.h"
#include "ao_telemetry.h"
+#ifndef _AO_LOG_GPS_H_
+#define _AO_LOG_GPS_H_
+
uint8_t
ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt);
@@ -25,8 +28,6 @@ void
ao_log_gps_flight(void);
void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data);
-
-void
-ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data);
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data);
+#endif /* _AO_LOG_GPS_H_ */
diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index cdf147cd..fb9e75d0 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -23,10 +23,7 @@
#include <ao_tracker.h>
#include <ao_exti.h>
-enum ao_flight_state ao_flight_state;
-
-static uint8_t ao_tracker_force_telem;
-static uint8_t ao_tracker_force_launch;
+static uint8_t ao_tracker_force_telem;
#if HAS_USB_CONNECT
static inline uint8_t
@@ -38,157 +35,22 @@ ao_usb_connected(void)
#define ao_usb_connected() 1
#endif
-#define STARTUP_AVERAGE 5
-
-int32_t ao_tracker_start_latitude;
-int32_t ao_tracker_start_longitude;
-int16_t ao_tracker_start_altitude;
-
-struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING];
-uint8_t ao_tracker_head;
-static uint8_t ao_tracker_log_pos;
-
-static uint16_t telem_rate;
-static uint8_t gps_rate;
-static uint8_t telem_enabled;
-
-static int64_t lat_sum, lon_sum;
-static int32_t alt_sum;
-static int nsamples;
-
-static void
-ao_tracker_state_update(struct ao_tracker_data *tracker)
-{
- uint16_t new_telem_rate;
- uint8_t new_gps_rate;
- uint8_t new_telem_enabled;
- uint32_t ground_distance;
- int16_t height;
- uint16_t speed;
-
- new_gps_rate = gps_rate;
- new_telem_rate = telem_rate;
-
- new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
-
- /* Don't change anything if GPS isn't locked */
- if ((tracker->new & AO_GPS_NEW_DATA) &&
- (tracker->gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
- (AO_GPS_VALID|AO_GPS_COURSE_VALID))
- {
- switch (ao_flight_state) {
- case ao_flight_startup:
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
-
- /* startup to pad when GPS locks */
-
- lat_sum += tracker->gps_data.latitude;
- lon_sum += tracker->gps_data.longitude;
- alt_sum += tracker->gps_data.altitude;
-
- ++nsamples;
-
- if (nsamples >= STARTUP_AVERAGE) {
- ao_flight_state = ao_flight_pad;
- ao_wakeup(&ao_flight_state);
- ao_tracker_start_latitude = lat_sum / nsamples;
- ao_tracker_start_longitude = lon_sum / nsamples;
- ao_tracker_start_altitude = alt_sum / nsamples;
- }
- break;
- case ao_flight_pad:
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
-
- ground_distance = ao_distance(tracker->gps_data.latitude,
- tracker->gps_data.longitude,
- ao_tracker_start_latitude,
- ao_tracker_start_longitude);
- height = tracker->gps_data.altitude - ao_tracker_start_altitude;
- if (height < 0)
- height = -height;
-
- if (ground_distance >= ao_config.tracker_start_horiz ||
- height >= ao_config.tracker_start_vert ||
- ao_tracker_force_launch)
- {
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(&ao_flight_state);
- ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head);
- ao_log_start();
- ao_log_gps_flight();
- }
- break;
- case ao_flight_drogue:
- /* Modulate data rates based on speed (in cm/s) */
- if (tracker->gps_data.climb_rate < 0)
- speed = -tracker->gps_data.climb_rate;
- else
- speed = tracker->gps_data.climb_rate;
- speed += tracker->gps_data.ground_speed;
-
- if (speed < AO_TRACKER_NOT_MOVING) {
- new_telem_rate = AO_SEC_TO_TICKS(10);
- new_gps_rate = 10;
- } else {
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
- }
- break;
- default:
- break;
- }
- }
-
- if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
- if (new_telem_enabled)
- ao_telemetry_set_interval(new_telem_rate);
- else
- ao_telemetry_set_interval(0);
- telem_rate = new_telem_rate;
- telem_enabled = new_telem_enabled;
- }
-
- if (new_gps_rate != gps_rate) {
- ao_gps_set_rate(new_gps_rate);
- gps_rate = new_gps_rate;
- }
-}
-
-#if HAS_LOG
-static uint8_t ao_tracker_should_log;
-
-static void
-ao_tracker_log(void)
-{
- struct ao_tracker_data *tracker;
-
- if (ao_log_running) {
- while (ao_tracker_log_pos != ao_tracker_head) {
- tracker = &ao_tracker_data[ao_tracker_log_pos];
- if (tracker->new & AO_GPS_NEW_DATA) {
- ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude,
- tracker->gps_data.longitude,
- tracker->gps_data.altitude);
- if (ao_tracker_should_log)
- ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data);
- }
- if (tracker->new & AO_GPS_NEW_TRACKING) {
- if (ao_tracker_should_log)
- ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data);
- }
- ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos);
- }
- }
-}
-#endif
+static int32_t last_log_latitude, last_log_longitude;
+static int16_t last_log_altitude;
+static uint8_t unmoving;
+static uint8_t log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t tracker_running;
+static uint16_t tracker_interval;
static void
ao_tracker(void)
{
- uint8_t new;
- struct ao_tracker_data *tracker;
+ uint8_t new;
+ int32_t ground_distance;
+ int16_t height;
+ uint16_t gps_tick;
+ uint8_t new_tracker_running;
#if HAS_ADC
ao_timer_set_adc_interval(100);
@@ -197,45 +59,83 @@ ao_tracker(void)
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
-
- nsamples = 0;
- lat_sum = 0;
- lon_sum = 0;
- alt_sum = 0;
-
ao_log_scan();
+ ao_log_start();
ao_rdf_set(1);
- ao_telemetry_set_interval(0);
- telem_rate = AO_SEC_TO_TICKS(1);
- telem_enabled = 0;
- gps_rate = 1;
- ao_flight_state = ao_flight_startup;
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
+
for (;;) {
+
+ /** Wait for new GPS data
+ */
while (!(new = ao_gps_new))
ao_sleep(&ao_gps_new);
-
- /* Stick GPS data into the ring */
ao_mutex_get(&ao_gps_mutex);
- tracker = &ao_tracker_data[ao_tracker_head];
- tracker->tick = ao_gps_tick;
- tracker->new = new;
- tracker->state = ao_flight_state;
- tracker->gps_data = ao_gps_data;
- tracker->gps_tracking_data = ao_gps_tracking_data;
- ao_tracker_head = ao_tracker_ring_next(ao_tracker_head);
-
+ gps_data = ao_gps_data;
+ gps_tick = ao_gps_tick;
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
- /* Update state based on current GPS data */
- ao_tracker_state_update(tracker);
+ new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
-#if HAS_LOG
- /* Log all gps data */
- ao_tracker_log();
-#endif
+ if (ao_config.tracker_interval != tracker_interval) {
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
+
+ /* force telemetry interval to be reset */
+ tracker_running = 0;
+ }
+
+ if (new_tracker_running && !tracker_running) {
+ ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+ } else if (!new_tracker_running && tracker_running) {
+ ao_telemetry_set_interval(0);
+ }
+
+ tracker_running = new_tracker_running;
+
+ if (!tracker_running)
+ continue;
+
+ if (new & AO_GPS_NEW_DATA) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ if (log_started) {
+ ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+ last_log_latitude, last_log_longitude);
+ height = last_log_altitude - gps_data.altitude;
+ if (height < 0)
+ height = -height;
+ if (ground_distance <= ao_config.tracker_motion &&
+ height <= ao_config.tracker_motion)
+ {
+ if (unmoving < AO_TRACKER_MOTION_COUNT)
+ unmoving++;
+ } else
+ unmoving = 0;
+ }
+ } else {
+ if (!log_started)
+ continue;
+ if (unmoving < AO_TRACKER_MOTION_COUNT)
+ unmoving++;
+ }
+
+ if (unmoving < AO_TRACKER_MOTION_COUNT) {
+ if (!log_started) {
+ ao_log_gps_flight();
+ log_started = 1;
+ }
+ ao_log_gps_data(gps_tick, &gps_data);
+ last_log_latitude = gps_data.latitude;
+ last_log_longitude = gps_data.longitude;
+ last_log_altitude = gps_data.altitude;
+ }
+ }
}
}
@@ -244,18 +144,23 @@ static struct ao_task ao_tracker_task;
static void
ao_tracker_set_telem(void)
{
- uint8_t telem, launch;
+ uint8_t telem;
ao_cmd_hex();
telem = ao_cmd_lex_i;
- ao_cmd_hex();
- launch = ao_cmd_lex_i;
- if (ao_cmd_status == ao_cmd_success) {
+ if (ao_cmd_status == ao_cmd_success)
ao_tracker_force_telem = telem;
- ao_tracker_force_launch = launch;
- }
ao_cmd_status = ao_cmd_success;
- printf ("flight %d force telem %d force launch %d\n",
- ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
+ printf ("flight: %d\n", ao_flight_number);
+ printf ("force_telem: %d\n", ao_tracker_force_telem);
+ printf ("log_started: %d\n", log_started);
+ printf ("unmoving: %d\n", unmoving);
+ printf ("latitude: %ld\n", (long) gps_data.latitude);
+ printf ("longitude: %ld\n", (long) gps_data.longitude);
+ printf ("altitude: %d\n", gps_data.altitude);
+ printf ("log_running: %d\n", ao_log_running);
+ printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+ printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+ printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
}
static const struct ao_cmds ao_tracker_cmds[] = {
diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h
index 63bdaf2f..a0fd2f49 100644
--- a/src/kernel/ao_tracker.h
+++ b/src/kernel/ao_tracker.h
@@ -18,31 +18,12 @@
#ifndef _AO_TRACKER_H_
#define _AO_TRACKER_H_
-#define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ 1000
-#define AO_CONFIG_DEFAULT_TRACKER_START_VERT 100
+/* Any motion more than this will result in a log entry */
-/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
-#define AO_TRACKER_NOT_MOVING 200
+#define AO_TRACKER_MOTION_DEFAULT 10
+#define AO_TRACKER_INTERVAL_DEFAULT 1
-extern int32_t ao_tracker_start_latitude;
-extern int32_t ao_tracker_start_longitude;
-extern int16_t ao_tracker_start_altitude;
-
-#define AO_TRACKER_RING 4
-
-struct ao_tracker_data {
- uint16_t tick;
- uint8_t new;
- uint8_t state;
- struct ao_telemetry_location gps_data;
- struct ao_telemetry_satellite gps_tracking_data;
-};
-
-extern struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING];
-extern uint8_t ao_tracker_head;
-
-#define ao_tracker_ring_next(n) (((n) + 1) & (AO_TRACKER_RING-1))
-#define ao_tracker_ring_prev(n) (((n) - 1) & (AO_TRACKER_RING-1))
+#define AO_TRACKER_MOTION_COUNT 10
void
ao_tracker_init(void);
diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c
index bc7eeea8..dd699ecf 100644
--- a/src/telegps-v0.3/ao_telegps.c
+++ b/src/telegps-v0.3/ao_telegps.c
@@ -52,7 +52,6 @@ main(void)
ao_tracker_init();
ao_telemetry_init();
- ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
#if HAS_SAMPLE_PROFILE
ao_sample_profile_init();
diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c
index 1185a5dd..7a71699b 100644
--- a/src/telegps-v1.0/ao_telegps.c
+++ b/src/telegps-v1.0/ao_telegps.c
@@ -55,7 +55,6 @@ main(void)
ao_tracker_init();
ao_telemetry_init();
- ao_telemetry_set_interval(AO_SEC_TO_TICKS(1));
#if HAS_SAMPLE_PROFILE
ao_sample_profile_init();
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 11:41:01 +0000