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* altos: Make ao_flight_test show true height but report saturated heightKeith Packard2011-03-31
| | | | | | | | To simulate a saturated baro sensor, clip baro data at a specified altitude. Continue to report the 'true' altitude in the output so that the resulting graphs are useful. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Baro useful ceiling is MSL, not AGLKeith Packard2011-03-31
| | | | | | | Use MSL instead of AGL for detecting over-range baro sensor values. Always trust baro sensor during descent; it'll get there eventually. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Reflect ao_flight split in ao_flight_test dependenciesKeith Packard2011-03-31
| | | | | | Need to rebuild ao_flight_test when any of the flight sources change Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Enable logging during nano flightsKeith Packard2011-03-29
| | | | | | Not having logging wasn't very useful. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Run RDF beacon after apogee instead of waiting for landingKeith Packard2011-03-29
| | | | | | This provides tracking when GPS fails, or on TeleMini. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: ao_sample_preflight was exiting preflight mode immediatelyKeith Packard2011-03-29
| | | | | | | | Need to stay in pre-flight mode until we've gotten enough sensor data to calibrate things appropriately. The conversion from a unified ao_flight.c file was just broken here. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Create custom nano flight codeKeith Packard2011-03-28
| | | | | | | No igniters, just 'pad/drogue/landed' modes (where 'drogue' == 'flying'). A constant 1Hz telemetry and RDF rate. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split up flight code into separate flight/sample/kalman bitsKeith Packard2011-03-28
| | | | | | | | | | | | | | | The flight code mashed together data processing, filtering and actual flight managament into one giant pile. Split things up so that we have: ao_sample.c: Sensor data processing. Reads the ring, handles calibration ao_kalman.c: Filter the data to track the accel/speed/height values ao_flight.c: Flight state management, specific to rocketry. The plan is to re-use ao_sample.c and ao_kalman.c for hardware not specifically designed for rocketry, like TeleNano. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: full logging must flush pending data before checking stateKeith Packard2011-03-26
| | | | | | | | | | | | Flight state must be checked only after any pending data have been written to the log as the 'current' flight state is only valid when the pending data values have been processed. This ensures that the 'boost' state is not marked until the full ring of data is written. This ensures that the data processing code can find the barometer values from before boost to get an idea of the ground pressure value. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Variable log rate in full logging code tooKeith Packard2011-03-26
| | | | | | | | | | With the fixed ADC rate used to get better data during flight, the logging code now needs to vary the data storage rate so that descent data is recorded at 10 samples/second while ascent data is recorded at 1 sample per second. Having the logging code do this itself eliminates any interaction with the flight code. Signed-off-by: Keith Packard <keithp@keithp.com>
* altosui: Add support for telemetry version 4Keith Packard2011-03-24
| | | | | | New telemetry format needed to support TeleNano and TeleMini Signed-off-by: Keith Packard <keithp@keithp.com>
* Add description to test flightsKeith Packard2011-03-23
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* altos: Exit flight test at landing. Allow description in test flight listKeith Packard2011-03-23
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Ignore alt error for fast->coast. Allow larger error for baro apogee.Keith Packard2011-03-23
| | | | | | | | | | | | | | With the fixed kalman filter, transitions across mach don't cause bumps in the merged filter. And, with working kalman bits, the signal for broken baro detection is stronger and so we can allow for baro apogee detection in cases where noise occurs close to apogee. Bump the kalman filter to trust the baro less so that the model tracks across mach. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Restore sensible kalman valuesKeith Packard2011-03-22
| | | | | | | Now that the kalman code seems to work correctly, restore the sensor errors and model errors to match reality Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Fix up flight code testingKeith Packard2011-03-22
| | | | | | | This automates flight code testing by reporting mis-detected apogee or main events. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Missing parens and some bad arithmetic in the kalman codeKeith Packard2011-03-22
| | | | | | Fixed point computations are a pain. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add ao_flight_debug codeKeith Packard2011-03-22
| | | | | | Trace the kalman filter to make sure it's working. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Clean up some debug stuff in ao_flight.cKeith Packard2011-03-22
| | | | | | | Remove some spurious printf debugging. Remove an attempt at discovering broken accelerometer code. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/kalman: Kalman terms can be > 1, use 32-bit fixed pointKeith Packard2011-03-22
| | | | | | | | Because speed and acceleration are scaled by 16, it's fairly common for the kalman terms to end up larger than 1. Instead of trying to fuss with 16-bit values and shifts, just use 32-bit values. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Compute a 'trust' value for the barometerKeith Packard2011-03-22
| | | | | | | | Instead of making the baro use/don't-use decision binary, use a 'trust value' which slowly migrates from baro+accel to accel-only mode. This eliminates bumps in the data from a rapid shift. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Switch telemetrum over to kalman filterKeith Packard2011-03-22
| | | | | | | | | | | | This changes the full telemetry stream to include kalman data instead of the old ad-hoc flight data. It's compatible in that the packet sizes are the same so teledongle can receive either and figure out which it has received. A few plotting and testing tools are added to make validating the new code easier. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add nickle kalman implementation.Keith Packard2011-03-21
| | | | | | | This generates the constants needed to implement Kalman filtering in the flight firmware. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add .sdcdbrc file for teledongleKeith Packard2011-03-19
| | | | | | My sdcdb script uses this to set command line options automatically Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: New telemetry report format (version 4). Supports tiny telemetry.Keith Packard2011-03-19
| | | | | | | | | | | This completely replaces the version 3 format with a much simpler and easier to parse scheme. It's described in detail in ao_telem.h, but the basic idea is that the whole line is split into name/value pairs, separated by whitespace. Every name is unique, and the values are either strings or integers. No extraneous formatting or units are provided. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: The kalman code requires a constant sample rateKeith Packard2011-03-19
| | | | | | | | The kalman function can't handle a variable sample rate, so keep the ADC running at full speed for the whole flight instead of slowing it down after apogee. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split telenano main from teleminiKeith Packard2011-03-19
| | | | | | | Eventually, telenano will run different code; prepare for this by creating a telenano-specific main routine. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Split out tiny telemetry from full telemetryKeith Packard2011-03-19
| | | | | | | | | | | | | | | The TeleMini and TeleNano boards do not have either GPS or accelermeters, and they also run the kalman filter which produces standard unit measurements for the flight height/speed/accel values. This makes the telemetry significantly different. ao_telemetry_tiny.c sends the required data. Note that TeleNano sends the same telemetry as telemini at this point; there are a couple of values which are not useful, but the overhead of sending them is small enough that the hassle of having three telemetry formats seemed excessive. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make telemetry interval more consistentKeith Packard2011-03-19
| | | | | | | | | | | | | | | Instead of using a delay between telemetry packets, use a telemetry period and compute an appropriate delay each time. This requires changing the ascent telemetry from a 50ms delay to a 100ms interval, to provide a regular 10 packets-per-second rate. Before, we counted on the telemetry packet taking about 50ms to send so that we would receive about 10 per second. This also eliminates delays during descent for RDF tones -- those will get transmitted in the interval between telemetry packets without interrupting the spacing of those packets. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Configure packet size from send/recv parameters.Keith Packard2011-03-19
| | | | | | | | | | Instead of setting the packet size at configuration time, use the provided packet size to the send/recv functions to configure the radio. This eliminates many configuration calls, leaving us with 'RDF' mode and 'packet' mode, the latter working for telemetry and the bi-directional link. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Don't init packet slave on TD. Make slave start optionalKeith Packard2011-03-19
| | | | | | | | | | | Oops. TeleDongle was starting the packet slave code, which kinda wrecked its ability to receive telemetry packets. This patch simply removes the packet slave code from teledongle as it cannot be used (yet), it also makes the packet slave code initialization take a parameter which controls whether to start that by default; in the future, perhaps TeleDongle will gain a command to start packet slave mode. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Baro-only boards must not detect launch on accel or speed dataKeith Packard2011-03-19
| | | | | | | The baro sensor generates too much noise to use small changes in computed speed or acceleration to cause a false launch detect. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Write height values to log for nano/miniKeith Packard2011-03-18
| | | | | | This is a lot more useful than the old filtered pressure data. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Add scripts to run lots of flights through the codeKeith Packard2011-03-18
| | | | | | | | This runs a long list of flights (there's a user-specific path pointing at the flights) and squawks if the baro and dual flight computers don't match. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Fix mini/nano default log size to available flash spaceKeith Packard2011-03-18
| | | | | | Also, remove accel cal code from boards without accel Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add TeleNano supportKeith Packard2011-03-18
| | | | | | This just uses the TeleMini bits, which should work fine for now. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Tiny logging fixes. Scan at start, stop when land or full.Keith Packard2011-03-18
| | | | | | | | | | Initialize the flight log for tiny systems by scanning the log area to find the current flight number and log area bounds. Stop logging data when the flight is over, or when the log area is full. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add kalman filters for baro-only boardsKeith Packard2011-03-18
| | | | | | | | This adds a baro-only kalman filter to track the state of the rocket, and then uses it to control flight events instead of the existing ad-hoc mechanisms. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add tiny logging for TeleMini/TeleNanoKeith Packard2011-03-17
| | | | | | | | | | This splits the logging code into management of the log space within storage and separate code to actually write suitable log entries. A new log writing module, ao_log_tiny, is added which writes only altimeter data at a fairly low data rate for devices using on-chip storage. Signed-off-by: Keith Packard <keithp@keithp.com>
* ignore new flight test fileAnthony Towns2011-03-16
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* altos: Internal flash ops block when running from flashKeith Packard2011-03-16
| | | | | | | | | The docs say that if you are executing from flash, then the CPU will stall after a flash write or erase command is started until the operation is complete. Take advantage of that to simplify the flash code. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: oops -- altitude reporting wasn't pausing between signalsKeith Packard2011-03-16
| | | | | | | need to actually alternate the LED/tone with some space so you can count. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Switch pins around for TeleMiniKeith Packard2011-03-16
| | | | | | TeleMini has fewer sensors and uses P0 for igniters instead of P2. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Switch LED usage for TeleMini aroundKeith Packard2011-03-16
| | | | | | | We're using the LEDs instead of tones, so make red mean 'low tone', green mean 'middle tone' and both mean 'high tone'. Signed-off-by: Keith Packard <keithp@keithp.com>
* ao_intflash: Avoid overwriting codeAnthony Towns2011-03-16
| | | | | | | Require firmware to specify the end of its codespace in its Makefile, and use this to determine where the start of available flash is. Should give compile time errors if either there's no room left for storage, or if there's not enough room for code.
* altos: Add TeleMini v1.0Keith Packard2011-03-16
| | | | | | | This adds initial code for the telemini board, a two channel flight computer with digital telemetry and a barometric sensor. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Start with packet slave running. Turn off in pad mode.Keith Packard2011-03-16
| | | | | | | | Instead of turning slave mode on in idle mode, start with it running and disable it in pad mode instead. This means packet mode is available in startup mode too. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Add baro-only flight test programKeith Packard2011-03-16
| | | | | | This builds the flight code in baro-only mode for testing. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Use ao_convert.c instead of hand-coded pres → alt funcKeith Packard2011-03-16
| | | | | | | Fix up ao_convert.c so that it can be used within the flight test code instead of having a (broken) copy of the code there. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Make serial, usb, beeper and accelerometer optional componentsKeith Packard2011-03-16
| | | | | | | Not all boards will have these, so fix places that use them to deal with that. Signed-off-by: Keith Packard <keithp@keithp.com>
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