From c985bb6a19c710409629f3c095332ba7afcf5248 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Fri, 18 Mar 2011 20:36:59 -0700
Subject: altos/test: Add scripts to run lots of flights through the code

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>
---
 src/test/test-flights | 72 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100644 src/test/test-flights

(limited to 'src/test/test-flights')

diff --git a/src/test/test-flights b/src/test/test-flights
new file mode 100644
index 00000000..a9a2ecca
--- /dev/null
+++ b/src/test/test-flights
@@ -0,0 +1,72 @@
+2009-06-03-serial-003-flight-002.eeprom
+2009-06-05-serial-004-flight-008.eeprom
+2009-06-06-serial-004-flight-009.eeprom
+2009-06-14-serial-004-flight-010.eeprom
+2009-06-20-serial-003-flight-003.eeprom
+2009-07-04-serial-001-flight-006.eeprom
+2009-07-18-serial-001-flight-007.eeprom
+2009-08-22-serial-001-flight-001.eeprom
+2009-08-22-serial-010-flight-001.eeprom
+2009-09-05-serial-008-flight-002.eeprom
+2009-09-05-serial-010-flight-002.eeprom
+2009-09-05-serial-011-flight-001.eeprom
+2009-09-11-serial-008-flight-003.eeprom
+2009-09-12-serial-002-flight-002.eeprom
+2009-09-12-serial-008-flight-005.eeprom
+2009-09-12-serial-008-flight-007.eeprom
+2009-09-19-serial-011-flight-002.eeprom
+2009-10-03-serial-008-flight-009.eeprom
+2009-10-03-serial-008-flight-010.eeprom
+2009-10-03-serial-009-flight-001.eeprom
+2009-10-03-serial-011-flight-003.eeprom
+2009-10-17-serial-009-flight-002.eeprom
+2009-11-14-serial-003-flight-005.eeprom
+2009-11-14-serial-003-flight-006.eeprom
+2009-11-21-serial-013-flight-001.eeprom
+2009-11-21-serial-013-flight-002.eeprom
+2010-02-13-serial-051-flight-002.eeprom
+2010-02-13-serial-052-flight-002.eeprom
+2010-02-28-serial-052-flight-003.eeprom
+2010-02-28-serial-052-flight-004.eeprom
+2010-03-06-serial-010-flight-004.eeprom
+2010-03-06-serial-013-flight-003.eeprom
+2010-03-06-serial-051-flight-003.eeprom
+2010-03-06-serial-053-flight-004.eeprom
+2010-05-08-serial-229-flight-002.eeprom
+2010-05-28-serial-215-flight-002.eeprom
+2010-05-28-serial-224-flight-001.eeprom
+2010-05-29-serial-052-flight-005.eeprom
+2010-05-30-serial-010-flight-005.eeprom
+2010-05-30-serial-051-flight-004.eeprom
+2010-05-30-serial-224-flight-003.eeprom
+2010-05-30-serial-226-flight-001.eeprom
+2010-05-31-serial-010-flight-006.eeprom
+2010-05-31-serial-216-flight-001.eeprom
+2010-05-31-serial-219-flight-001.eeprom
+2010-05-31-serial-227-flight-003.eeprom
+2010-06-05-serial-220-flight-001.eeprom
+2010-06-26-serial-209-flight-003.eeprom
+2010-06-26-serial-215-flight-004.eeprom
+2010-06-26-serial-220-flight-002.eeprom
+2010-06-26-serial-226-flight-002.eeprom
+2010-06-27-serial-221-flight-002.eeprom
+2010-07-17-serial-230-flight-001.eeprom
+2010-07-18-serial-219-flight-002.eeprom
+2010-08-07-serial-216-flight-003.eeprom
+2010-08-07-serial-220-flight-003.eeprom
+2010-08-12-serial-236-flight-001.eeprom
+2010-08-21-serial-010-flight-007.eeprom
+2010-08-21-serial-224-flight-004.eeprom
+2010-08-21-serial-224-flight-005.eeprom
+2010-08-21-serial-233-flight-002.eeprom
+2010-09-03-serial-051-flight-005.eeprom
+2010-09-03-serial-215-flight-005.eeprom
+2010-09-24-serial-236-flight-006.eeprom
+2010-09-25-serial-223-flight-001.eeprom
+2010-10-17-serial-215-flight-006.eeprom
+2010-10-23-serial-236-flight-008.eeprom
+2011-01-30-serial-056-flight-001.eeprom
+2011-01-30-serial-250-flight-002.eeprom
+2011-02-19-serial-215-flight-007.eeprom
+2011-02-19-serial-216-flight-006.eeprom
+2011-02-19-serial-286-flight-001.eeprom
-- 
cgit v1.2.3


From 7b009b2efe3af8722c358c304c2243652594e0d5 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 22 Mar 2011 05:42:51 +0900
Subject: altos: Switch telemetrum over to kalman filter

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>
---
 src/ao.h                |  36 ++--
 src/ao_flash.c          |   8 +-
 src/ao_flight.c         | 495 +++++++++++++++++++++---------------------------
 src/ao_flight_test.c    |  82 ++++----
 src/ao_log_tiny.c       |   2 +-
 src/ao_monitor.c        |  34 ++--
 src/ao_pins.h           |   5 -
 src/ao_report.c         |   2 +-
 src/ao_telemetry.c      |   7 +-
 src/ao_telemetry_tiny.c |   6 +-
 src/test/.gitignore     |   1 +
 src/test/Makefile       |  13 +-
 src/test/plottest       |  16 ++
 src/test/run-one        |  32 ++++
 src/test/test-flights   |   1 -
 15 files changed, 367 insertions(+), 373 deletions(-)
 create mode 100755 src/test/plottest
 create mode 100755 src/test/run-one

(limited to 'src/test/test-flights')

diff --git a/src/ao.h b/src/ao.h
index 527390b0..b88bef1f 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -34,7 +34,7 @@
 /* Stack runs from above the allocated __data space to 0xfe, which avoids
  * writing to 0xff as that triggers the stack overflow indicator
  */
-#define AO_STACK_START	0x80
+#define AO_STACK_START	0x90
 #define AO_STACK_END	0xfe
 #define AO_STACK_SIZE	(AO_STACK_END - AO_STACK_START + 1)
 
@@ -470,7 +470,7 @@ extern __xdata uint16_t ao_storage_unit;
 
 /* Initialize above values. Can only be called once the OS is running */
 void
-ao_storage_setup(void);
+ao_storage_setup(void) __reentrant;
 
 /* Write data. Returns 0 on failure, 1 on success */
 uint8_t
@@ -698,21 +698,19 @@ enum ao_flight_state {
 extern __data uint8_t			ao_flight_adc;
 extern __pdata enum ao_flight_state	ao_flight_state;
 extern __pdata uint16_t			ao_flight_tick;
-extern __pdata int16_t			ao_flight_accel;
-extern __pdata int16_t			ao_flight_pres;
-extern __pdata int32_t			ao_flight_vel;
-extern __pdata int16_t			ao_ground_pres;
+extern __xdata int16_t			ao_ground_pres;
 extern __pdata int16_t			ao_ground_accel;
-extern __pdata int16_t			ao_min_pres;
 extern __pdata uint16_t			ao_launch_time;
 extern __xdata uint8_t			ao_flight_force_idle;
-#ifdef USE_KALMAN
 extern __pdata int16_t			ao_ground_height;
-extern __pdata int32_t			ao_k_max_height;
-extern __pdata int32_t			ao_k_height;
-extern __pdata int32_t			ao_k_speed;
-extern __pdata int32_t			ao_k_accel;
-#endif
+extern __pdata int16_t			ao_max_height;
+extern __pdata int16_t			ao_height;	/* meters */
+extern __pdata int16_t			ao_speed;	/* m/s * 16 */
+extern __pdata int16_t			ao_accel;	/* m/s² * 16 */
+
+#define AO_M_TO_HEIGHT(m)	((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
 
 /* Flight thread */
 void
@@ -912,10 +910,16 @@ struct ao_telemetry {
 	uint16_t		serial;
 	uint16_t		flight;
 	uint8_t			flight_state;
-	int16_t			flight_accel;
+	int16_t			accel;
 	int16_t			ground_accel;
-	int32_t			flight_vel;
-	int16_t			flight_pres;
+	union {
+		struct {
+			int16_t			speed;
+			int16_t			unused;
+		} k;
+		int32_t		flight_vel;
+	} u;
+	int16_t			height;
 	int16_t			ground_pres;
 	int16_t			accel_plus_g;
 	int16_t			accel_minus_g;
diff --git a/src/ao_flash.c b/src/ao_flash.c
index 3a264ceb..d323926f 100644
--- a/src/ao_flash.c
+++ b/src/ao_flash.c
@@ -93,12 +93,12 @@ static __pdata uint16_t ao_flash_block = FLASH_BLOCK_NONE;
 static __pdata uint8_t	ao_flash_block_dirty;
 static __pdata uint8_t  ao_flash_write_pending;
 static __pdata uint8_t	ao_flash_setup_done;
-static __data uint8_t	ao_flash_block_shift;
-static __data uint16_t	ao_flash_block_size;
-static __data uint16_t	ao_flash_block_mask;
+static __pdata uint8_t	ao_flash_block_shift;
+static __pdata uint16_t	ao_flash_block_size;
+static __pdata uint16_t	ao_flash_block_mask;
 
 void
-ao_storage_setup(void)
+ao_storage_setup(void) __reentrant
 {
 	uint8_t	status;
 
diff --git a/src/ao_flight.c b/src/ao_flight.c
index 493913b2..c65670f0 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -31,22 +31,14 @@
 #error Please define HAS_USB
 #endif
 
-#ifndef USE_KALMAN
-#error Please define USE_KALMAN
-#endif
-
 /* Main flight thread. */
 
 __pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
 __pdata uint16_t		ao_flight_tick;		/* time of last data */
 __pdata uint16_t		ao_flight_prev_tick;	/* time of previous data */
-__pdata int16_t			ao_flight_pres;		/* filtered pressure */
-__pdata int16_t			ao_ground_pres;		/* startup pressure */
-__pdata int16_t			ao_min_pres;		/* minimum recorded pressure */
+__xdata int16_t			ao_ground_pres;		/* startup pressure */
 __pdata uint16_t		ao_launch_tick;		/* time of launch detect */
-__pdata int16_t			ao_main_pres;		/* pressure to eject main */
 #if HAS_ACCEL
-__pdata int16_t			ao_flight_accel;	/* filtered acceleration */
 __pdata int16_t			ao_ground_accel;	/* startup acceleration */
 #endif
 
@@ -55,16 +47,8 @@ __pdata int16_t			ao_ground_accel;	/* startup acceleration */
  * resting
  */
 __pdata uint16_t		ao_interval_end;
-__pdata int16_t			ao_interval_cur_min_pres;
-__pdata int16_t			ao_interval_cur_max_pres;
-__pdata int16_t			ao_interval_min_pres;
-__pdata int16_t			ao_interval_max_pres;
-#if HAS_ACCEL
-__pdata int16_t			ao_interval_cur_min_accel;
-__pdata int16_t			ao_interval_cur_max_accel;
-__pdata int16_t			ao_interval_min_accel;
-__pdata int16_t			ao_interval_max_accel;
-#endif
+__pdata int16_t			ao_interval_min_height;
+__pdata int16_t			ao_interval_max_height;
 
 __data uint8_t ao_flight_adc;
 __pdata int16_t ao_raw_pres;
@@ -96,15 +80,8 @@ __pdata int16_t ao_accel_2g;
  */
 
 #define GRAVITY 9.80665
-/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) (((int32_t) (((mps) / GRAVITY) * (AO_HERTZ/2))) * (int32_t) ao_accel_2g)
 
 #define ACCEL_NOSE_UP	(ao_accel_2g >> 2)
-#define ACCEL_BOOST	ao_accel_2g
-#define ACCEL_COAST	(ao_accel_2g >> 3)
-#define ACCEL_INT_LAND	(ao_accel_2g >> 3)
-#define ACCEL_VEL_MACH	VEL_MPS_TO_COUNT(200)
-#define ACCEL_VEL_BOOST	VEL_MPS_TO_COUNT(5)
 
 #endif
 
@@ -127,91 +104,185 @@ __pdata int16_t ao_accel_2g;
  * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
  */
 
-#define BARO_kPa	268
-#define BARO_LAUNCH	(BARO_kPa / 5)	/* .2kPa, or about 20m */
-#define BARO_APOGEE	(BARO_kPa / 10)	/* .1kPa, or about 10m */
-#define BARO_COAST	(BARO_kPa * 5)  /* 5kpa, or about 500m */
-#define BARO_MAIN	(BARO_kPa)	/* 1kPa, or about 100m */
-#define BARO_INT_LAND	(BARO_kPa / 20)	/* .05kPa, or about 5m */
-#define BARO_LAND	(BARO_kPa * 10)	/* 10kPa or about 1000m */
-
 /* We also have a clock, which can be used to sanity check things in
  * case of other failures
  */
 
 #define BOOST_TICKS_MAX	AO_SEC_TO_TICKS(15)
 
-#if HAS_ACCEL
-/* This value is scaled in a weird way. It's a running total of accelerometer
- * readings minus the ground accelerometer reading. That means it measures
- * velocity, and quite accurately too. As it gets updated 100 times a second,
- * it's scaled by 100
- */
-__pdata int32_t	ao_flight_vel;
-__pdata int32_t ao_min_vel;
-__pdata int32_t	ao_old_vel;
-__pdata int16_t ao_old_vel_tick;
-__xdata int32_t ao_raw_accel_sum;
-#endif
-
-#if USE_KALMAN
-__pdata int16_t			ao_ground_height;
-__pdata int32_t			ao_k_max_height;
-__pdata int32_t			ao_k_height;
-__pdata int32_t			ao_k_speed;
-__pdata int32_t			ao_k_accel;
-
 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-
 #define from_fix(x)	((x) >> 16)
 
-#define AO_K0_100	to_fix16(0.05680323)
-#define AO_K1_100	to_fix16(0.16608182)
-#define AO_K2_100	to_fix16(0.24279580)
+#include "ao_kalman.h"
+
+__pdata int16_t			ao_ground_height;
+__pdata int16_t			ao_height;
+__pdata int16_t			ao_speed;
+__pdata int16_t			ao_accel;
+__pdata int16_t			ao_max_height;
+
+static __pdata int32_t		ao_k_height;
+static __pdata int32_t		ao_k_speed;
+static __pdata int32_t		ao_k_accel;
 
 #define AO_K_STEP_100		to_fix16(0.01)
 #define AO_K_STEP_2_2_100	to_fix16(0.00005)
 
-#define AO_K0_10	to_fix16(0.23772023)
-#define AO_K1_10	to_fix16(0.32214149)
-#define AO_K2_10	to_fix16(0.21827159)
-
 #define AO_K_STEP_10		to_fix16(0.1)
 #define AO_K_STEP_2_2_10	to_fix16(0.005)
 
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT	8000
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED	300
+
+static void
+ao_kalman_predict(void)
+{
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
+				(int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
+		ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
+
+		return;
+	}
+#endif
+	ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
+			(int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+	ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
+}
+
+static __pdata int16_t ao_error_h;
+static __pdata int16_t ao_raw_alt;
+static __pdata int16_t ao_raw_height;
+static __pdata int16_t ao_error_h_sq_avg;
+
 static void
-ao_kalman_baro(void)
+ao_kalman_err_height(void)
 {
-	int16_t	err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height))
-		- (int16_t) (ao_k_height >> 16);
+	int16_t	e;
+	ao_error_h = ao_raw_height - (int16_t) (ao_k_height >> 16);
+
+	e = ao_error_h;
+	if (e < 0)
+		e = -e;
+	if (e > 127)
+		e = 127;
+	ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
+	ao_error_h_sq_avg += (e * e) >> 4;
+}
 
+static void
+ao_kalman_correct_baro(void)
+{
+	ao_kalman_err_height();
 #ifdef AO_FLIGHT_TEST
 	if (ao_flight_tick - ao_flight_prev_tick > 5) {
-		ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 +
-				(ao_k_accel >> 16) * AO_K_STEP_2_2_10);
-		ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10;
-
-		/* correct */
-		ao_k_height += (int32_t) AO_K0_10 * err;
-		ao_k_speed += (int32_t) AO_K1_10 * err;
-		ao_k_accel += (int32_t) AO_K2_10 * err;
+		ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
+		ao_k_speed  += (int32_t) AO_BARO_K1_10 * ao_error_h;
+		ao_k_accel  += (int32_t) AO_BARO_K2_10 * ao_error_h;
 		return;
 	}
 #endif
-	ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 +
-			(ao_k_accel >> 16) * AO_K_STEP_2_2_100);
-	ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100;
-
-	/* correct */
-	ao_k_height += (int32_t) AO_K0_100 * err;
-	ao_k_speed += (int32_t) AO_K1_100 * err;
-	ao_k_accel += (int32_t) AO_K2_100 * err;
+	ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
+	ao_k_speed  += (int32_t) AO_BARO_K1_100 * ao_error_h;
+	ao_k_accel  += (int32_t) AO_BARO_K2_100 * ao_error_h;
 }
+
+#if HAS_ACCEL
+static __pdata int16_t ao_error_a;
+static __pdata int32_t ao_accel_scale;
+
+static void
+ao_kalman_err_accel(void)
+{
+	int32_t	accel;
+
+	accel = (ao_ground_accel - ao_raw_accel) * ao_accel_scale;
+
+	/* Can't use ao_accel here as it is the pre-prediction value still */
+	ao_error_a = (accel - ao_k_accel) >> 16;
+}
+
+static void
+ao_kalman_correct_both(void)
+{
+	ao_kalman_err_height();
+	ao_kalman_err_accel();
+
+#if 0
+	/*
+	 * Check to see if things are crazy here --
+	 * if the computed height is far above the
+	 * measured height, we assume that the flight
+	 * trajectory is not vertical, and so ignore
+	 * the accelerometer for the remainder of the
+	 * flight.
+	 */
+	if (ao_error_h_sq_avg > 10)
+	{
+		ao_kalman_correct_baro();
+		return;
+	}
+#endif
+
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height +=
+			(int32_t) AO_BOTH_K00_10 * ao_error_h +
+			(int32_t) (AO_BOTH_K01_10 >> 4) * ao_error_a;
+		ao_k_speed +=
+			((int32_t) AO_BOTH_K10_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K11_10 * ao_error_a;
+		ao_k_accel +=
+			((int32_t) AO_BOTH_K20_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K21_10 * ao_error_a;
+		return;
+	}
+#endif
+	ao_k_height +=
+		(int32_t) AO_BOTH_K00_100 * ao_error_h +
+		(int32_t) AO_BOTH_K01_100 * ao_error_a;
+	ao_k_speed +=
+		(int32_t) AO_BOTH_K10_100 * ao_error_h +
+		(int32_t) AO_BOTH_K11_100 * ao_error_a;
+	ao_k_accel +=
+		(int32_t) AO_BOTH_K20_100 * ao_error_h +
+		(int32_t) AO_BOTH_K21_100 * ao_error_a;
+}
+
+static void
+ao_kalman_correct_accel(void)
+{
+	ao_kalman_err_accel();
+
+#ifdef AO_FLIGHT_TEST
+	if (ao_flight_tick - ao_flight_prev_tick > 5) {
+		ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
+		ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
+		ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
+		return;
+	}
 #endif
+	ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
+	ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
+	ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
+}
+#endif /* HAS_ACCEL */
 
 __xdata int32_t ao_raw_pres_sum;
 
+#ifdef HAS_ACCEL
+__xdata int32_t ao_raw_accel_sum;
+#endif
+
 /* Landing is detected by getting constant readings from both pressure and accelerometer
  * for a fairly long time (AO_INTERVAL_TICKS)
  */
@@ -235,10 +306,6 @@ ao_flight(void)
 		ao_wakeup(DATA_TO_XDATA(&ao_flight_adc));
 		ao_sleep(DATA_TO_XDATA(&ao_adc_head));
 		while (ao_flight_adc != ao_adc_head) {
-#if HAS_ACCEL
-			__pdata uint8_t ticks;
-			__pdata int16_t ao_vel_change;
-#endif
 			__xdata struct ao_adc *ao_adc;
 			ao_flight_prev_tick = ao_flight_tick;
 
@@ -246,9 +313,8 @@ ao_flight(void)
 			ao_adc = &ao_adc_ring[ao_flight_adc];
 			ao_flight_tick = ao_adc->tick;
 			ao_raw_pres = ao_adc->pres;
-			ao_flight_pres -= ao_flight_pres >> 4;
-			ao_flight_pres += ao_raw_pres >> 4;
-
+			ao_raw_alt = ao_pres_to_altitude(ao_raw_pres);
+			ao_raw_height = ao_raw_alt - ao_ground_height;
 #if HAS_ACCEL
 			ao_raw_accel = ao_adc->accel;
 #if HAS_ACCEL_REF
@@ -335,45 +401,31 @@ ao_flight(void)
 			ao_raw_accel = (uint16_t) ((((uint32_t) ao_raw_accel << 16) / (ao_accel_ref[ao_flight_adc] << 1))) >> 1;
 			ao_adc->accel = ao_raw_accel;
 #endif
-
-			ao_flight_accel -= ao_flight_accel >> 4;
-			ao_flight_accel += ao_raw_accel >> 4;
-			/* Update velocity
-			 *
-			 * The accelerometer is mounted so that
-			 * acceleration yields negative values
-			 * while deceleration yields positive values,
-			 * so subtract instead of add.
-			 */
-			ticks = ao_flight_tick - ao_flight_prev_tick;
-			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;
-			else
-				ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
 #endif
 
-#if USE_KALMAN
-			if (ao_flight_state > ao_flight_idle)
-				ao_kalman_baro();
-#endif
-			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
-		}
-
-		if (ao_flight_pres < ao_min_pres)
-			ao_min_pres = ao_flight_pres;
+			if (ao_flight_state > ao_flight_idle) {
+				ao_kalman_predict();
 #if HAS_ACCEL
-		if (ao_flight_vel >= 0) {
-			if (ao_flight_vel < ao_min_vel)
-			    ao_min_vel = ao_flight_vel;
-		} else {
-			if (-ao_flight_vel < ao_min_vel)
-			    ao_min_vel = -ao_flight_vel;
+				if (ao_flight_state <= ao_flight_coast) {
+#ifndef FORCE_ACCEL
+					if (/*ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED) &&*/
+					    ao_raw_alt < AO_MAX_BARO_HEIGHT)
+						ao_kalman_correct_both();
+					else
+#endif
+						ao_kalman_correct_accel();
+				} else
+#endif
+				if (ao_raw_alt < AO_MAX_BARO_HEIGHT || ao_flight_state >= ao_flight_drogue)
+					ao_kalman_correct_baro();
+				ao_height = from_fix(ao_k_height);
+				ao_speed = from_fix(ao_k_speed);
+				ao_accel = from_fix(ao_k_accel);
+				if (ao_height > ao_max_height)
+					ao_max_height = ao_height;
+			}
+			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
 		}
-#endif
 
 		switch (ao_flight_state) {
 		case ao_flight_startup:
@@ -391,35 +443,25 @@ ao_flight(void)
 				++nsamples;
 				continue;
 			}
+			ao_config_get();
 #if HAS_ACCEL
 			ao_ground_accel = ao_raw_accel_sum >> 9;
+			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+			ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
 #endif
 			ao_ground_pres = ao_raw_pres_sum >> 9;
-			ao_min_pres = ao_ground_pres;
-			ao_config_get();
-#if USE_KALMAN
 			ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
-#endif
-			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
-#if HAS_ACCEL
-			ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
-			ao_flight_vel = 0;
-			ao_min_vel = 0;
-			ao_old_vel = ao_flight_vel;
-			ao_old_vel_tick = ao_flight_tick;
-#endif
 
 			/* Check to see what mode we should go to.
 			 *  - Invalid mode if accel cal appears to be out
 			 *  - pad mode if we're upright,
 			 *  - idle mode otherwise
 			 */
-			ao_config_get();
 #if HAS_ACCEL
 			if (ao_config.accel_plus_g == 0 ||
 			    ao_config.accel_minus_g == 0 ||
-			    ao_flight_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-			    ao_flight_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
 			{
 				/* Detected an accel value outside -1.5g to 1.5g
 				 * (or uncalibrated values), so we go into invalid mode
@@ -430,7 +472,7 @@ ao_flight(void)
 #endif
 				if (!ao_flight_force_idle
 #if HAS_ACCEL
-				    && ao_flight_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+				    && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 #endif
 					)
  			{
@@ -465,57 +507,27 @@ ao_flight(void)
 			break;
 		case ao_flight_pad:
 
-#if HAS_ACCEL
-			/* Trim velocity
-			 *
-			 * Once a second, remove any velocity from
-			 * a second ago
-			 */
-			if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
-				ao_old_vel_tick = ao_flight_tick;
-				ao_flight_vel -= ao_old_vel;
-				ao_old_vel = ao_flight_vel;
-			}
-#endif
 			/* pad to boost:
 			 *
-			 * accelerometer: > 2g AND velocity > 5m/s
-			 *             OR
 			 * barometer: > 20m vertical motion
+			 *             OR
+			 * accelerometer: > 2g AND velocity > 5m/s
 			 *
 			 * The accelerometer should always detect motion before
 			 * the barometer, but we use both to make sure this
-			 * transition is detected
+			 * transition is detected. If the device
+			 * doesn't have an accelerometer, then ignore the
+			 * speed and acceleration as they are quite noisy
+			 * on the pad.
 			 */
-#if USE_KALMAN
+			if (ao_height > AO_M_TO_HEIGHT(20)
 #if HAS_ACCEL
-			/*
-			 * With an accelerometer, either to detect launch
-			 */
-			if ((ao_k_accel > to_fix32(20) &&
-			     ao_k_speed > to_fix32(5)) ||
-			    ao_k_height > to_fix32(20))
-#else
-			/*
-			 * Without an accelerometer, the barometer is far too
-			 * noisy to rely on speed or acceleration data
-			 */
-			if (ao_k_height > to_fix32(20))
-#endif
-#else
-			if (
-#if HAS_ACCEL
-				(ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
-				 ao_flight_vel > ACCEL_VEL_BOOST) ||
-#endif
-			    ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
+			    || (ao_accel > AO_MSS_TO_ACCEL(20) &&
+				ao_speed > AO_MS_TO_SPEED(5))
 #endif
+				)
 			{
-#if HAS_ACCEL || USE_KALMAN
 				ao_flight_state = ao_flight_boost;
-#else
-				ao_flight_state = ao_flight_coast;
-#endif
 				ao_launch_tick = ao_flight_tick;
 
 				/* start logging data */
@@ -537,7 +549,6 @@ ao_flight(void)
 				break;
 			}
 			break;
-#if HAS_ACCEL || USE_KALMAN
 		case ao_flight_boost:
 
 			/* boost to fast:
@@ -550,13 +561,8 @@ ao_flight(void)
 			 * deceleration, or by waiting until the maximum burn duration
 			 * (15 seconds) has past.
 			 */
-#if USE_KALMAN
-			if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) ||
-			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#else
-			if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
+			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-#endif
 			{
 				ao_flight_state = ao_flight_fast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
@@ -564,62 +570,28 @@ ao_flight(void)
 			}
 			break;
 		case ao_flight_fast:
-
-			/* fast to coast:
-			 *
-			 * accelerometer: integrated velocity < 200 m/s
-			 *               OR
-			 * barometer: fall at least 500m from max altitude
-			 *
-			 * This extra state is required to avoid mis-detecting
-			 * apogee due to mach transitions.
-			 *
-			 * XXX this is essentially a single-detector test
-			 * as the 500m altitude change would likely result
-			 * in a loss of the rocket. More data on precisely
-			 * how big a pressure change the mach transition
-			 * generates would be useful here.
+			/*
+			 * This is essentially the same as coast,
+			 * but the barometer is being ignored as
+			 * it may be unreliable.
 			 */
-#if USE_KALMAN
-			if (ao_k_speed < to_fix32(200) ||
-			    ao_k_height < ao_k_max_height - to_fix32(500))
-#else
-			if (ao_flight_vel < ACCEL_VEL_MACH ||
-			    ao_flight_pres > ao_min_pres + BARO_COAST)
-#endif
-			{
-#if HAS_ACCEL
-				/* set min velocity to current velocity for
-				 * apogee detect
-				 */
-				ao_min_vel = abs(ao_flight_vel);
-#endif
+			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) {
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+				break;
 			}
 			break;
-#endif /* HAS_ACCEL */
 		case ao_flight_coast:
 
-#if USE_KALMAN
 			/* apogee detect: coast to drogue deploy:
 			 *
 			 * speed: < 0
-			 */
-			if (ao_k_speed < 0)
-#else
-			/* apogee detect: coast to drogue deploy:
-			 *
-			 * barometer: fall at least 10m
 			 *
-			 * 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
+			 * Also make sure the model altitude is tracking
+			 * the measured altitude reasonably closely; otherwise
+			 * we're probably transsonic.
 			 */
-			if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
-#endif
+			if (ao_speed < 0 && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100))
 			{
 				/* ignite the drogue charge */
 				ao_ignite(ao_igniter_drogue);
@@ -627,32 +599,15 @@ ao_flight(void)
 				/* slow down the telemetry system */
 				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 
-#if !USE_KALMAN
-				/* slow down the ADC sample rate */
-				ao_timer_set_adc_interval(10);
-#endif
-
 				/*
-				 * Start recording min/max accel and pres for a while
+				 * Start recording min/max height
 				 * to figure out when the rocket has landed
 				 */
-				/* Set the 'last' limits to max range to prevent
-				 * early resting detection
-				 */
-#if HAS_ACCEL
-				ao_interval_min_accel = 0;
-				ao_interval_max_accel = 0x7fff;
-#endif
-				ao_interval_min_pres = 0;
-				ao_interval_max_pres = 0x7fff;
 
 				/* initialize interval values */
 				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
 
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+				ao_interval_min_height = ao_interval_max_height = ao_height;
 
 				/* and enter drogue state */
 				ao_flight_state = ao_flight_drogue;
@@ -674,11 +629,7 @@ ao_flight(void)
 			 * at that point. Perhaps also use the drogue sense lines
 			 * to notice continutity?
 			 */
-#if USE_KALMAN
-			if (from_fix(ao_k_height) < ao_config.main_deploy)
-#else
-			if (ao_flight_pres >= ao_main_pres)
-#endif
+			if (ao_height <= ao_config.main_deploy)
 			{
 				ao_ignite(ao_igniter_main);
 				ao_flight_state = ao_flight_main;
@@ -690,39 +641,17 @@ ao_flight(void)
 
 			/* drogue/main to land:
 			 *
-			 * accelerometer: value stable
-			 *                           AND
 			 * barometer: altitude stable and within 1000m of the launch altitude
 			 */
 
-			if (ao_flight_pres < ao_interval_cur_min_pres)
-				ao_interval_cur_min_pres = ao_flight_pres;
-			if (ao_flight_pres > ao_interval_cur_max_pres)
-				ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-			if (ao_flight_accel < ao_interval_cur_min_accel)
-				ao_interval_cur_min_accel = ao_flight_accel;
-			if (ao_flight_accel > ao_interval_cur_max_accel)
-				ao_interval_cur_max_accel = ao_flight_accel;
-#endif
+			if (ao_height < ao_interval_min_height)
+				ao_interval_min_height = ao_height;
+			if (ao_height > ao_interval_max_height)
+				ao_interval_max_height = ao_height;
 
 			if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
-				ao_interval_max_pres = ao_interval_cur_max_pres;
-				ao_interval_min_pres = ao_interval_cur_min_pres;
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-#if HAS_ACCEL
-				ao_interval_max_accel = ao_interval_cur_max_accel;
-				ao_interval_min_accel = ao_interval_cur_min_accel;
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-#endif
-				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-
-				if (
-#if HAS_ACCEL
-					(uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
-#endif
-				    ao_flight_pres > ao_ground_pres - BARO_LAND &&
-				    (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
+				if (ao_height < AO_M_TO_HEIGHT(1000) &&
+				    ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
 				{
 					ao_flight_state = ao_flight_landed;
 
@@ -733,6 +662,8 @@ ao_flight(void)
 
 					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				}
+				ao_interval_min_height = ao_interval_max_height = ao_height;
+				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
 			}
 			break;
 		case ao_flight_landed:
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index 16167644..e7bfbdd2 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -29,6 +29,10 @@
 #define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
 #define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
 
+#define AO_M_TO_HEIGHT(m)	((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)	((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)	((int16_t) ((mss) * 16))
+
 /*
  * One set of samples read from the A/D converter
  */
@@ -143,15 +147,26 @@ struct ao_config ao_config;
 #ifndef HAS_ACCEL
 #define HAS_ACCEL 1
 #define HAS_ACCEL_REF 0
-#define USE_KALMAN 0
-#else
-#define USE_KALMAN 1
 #endif
 
 #include "ao_flight.c"
 
 #define to_double(f)	((f) / 65536.0)
 
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_accel_2g;
+
+int32_t	drogue_height;
+int32_t main_height;
+
+int		tick_offset;
+uint16_t	prev_tick;
+static int	ao_records_read = 0;
+static int	ao_eof_read = 0;
+static int	ao_flight_ground_accel;
+static int	ao_flight_started = 0;
+
 void
 ao_insert(void)
 {
@@ -159,33 +174,39 @@ ao_insert(void)
 	ao_adc_head = ao_adc_ring_next(ao_adc_head);
 	if (ao_summary)
 		return;
-	if (ao_flight_state != ao_flight_startup) {
-#if USE_KALMAN
-		printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
-		       (double) ao_adc_static.tick / 100,
-		       ao_adc_static.accel,
-		       ao_adc_static.pres,
-		       to_double(ao_k_height),
-		       to_double(ao_k_speed),
-		       to_double(ao_k_accel));
-#else
-		printf("time %g accel %d pres %d\n",
-		       (double) ao_adc_static.tick / 100,
-		       ao_adc_static.accel,
-		       ao_adc_static.pres);
-#endif
+	if (ao_flight_state == ao_flight_startup)
+		return;
+	{
+		double	height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
+		double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+			(ao_config.accel_minus_g - ao_config.accel_plus_g);
+
+		if (!tick_offset)
+			tick_offset = ao_adc_static.tick;
+		if (!drogue_height && ao_flight_state >= ao_flight_drogue)
+			drogue_height = ao_k_height;
+		if (!main_height && ao_flight_state >= ao_flight_main)
+			main_height = ao_k_height;
+		if ((prev_tick - ao_adc_static.tick) > 0)
+			tick_offset += 65536;
+		prev_tick = ao_adc_static.tick;
+		printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
+		       (double) (ao_adc_static.tick + tick_offset) / 100,
+		       height,
+		       accel,
+		       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,
+		       drogue_height / 65536.0,
+		       main_height / 65536.0,
+		       ao_error_h_sq_avg);
 	}
 }
 
-static int	ao_records_read = 0;
-static int	ao_eof_read = 0;
-static int	ao_flight_ground_accel;
-static int	ao_flight_started = 0;
-
 void
 ao_sleep(void *wchan)
 {
-	ao_dump_state();
 	if (wchan == &ao_adc_head) {
 		char		type;
 		uint16_t	tick;
@@ -291,19 +312,6 @@ ao_dump_state(void)
 		return;
 	if (ao_summary)
 		return;
-#if HAS_ACCEL
-	printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
-		ao_state_names[ao_flight_state],
-		(ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
-		(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
-		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
-		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#else
-	printf ("\t\t\t\t\t%s alt %d main %d\n",
-		ao_state_names[ao_flight_state],
-		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
-		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
-#endif
 	if (ao_flight_state == ao_flight_landed)
 		exit(0);
 }
diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c
index fad2a242..f0c0662a 100644
--- a/src/ao_log_tiny.c
+++ b/src/ao_log_tiny.c
@@ -69,7 +69,7 @@ ao_log(void)
 			if (ao_log_tiny_state == ao_flight_landed)
 				ao_log_stop();
 		}
-		ao_log_tiny_data(ao_k_height >> 16);
+		ao_log_tiny_data(ao_height);
 		time += ao_log_tiny_interval;
 		delay = time - ao_time();
 		if (delay > 0)
diff --git a/src/ao_monitor.c b/src/ao_monitor.c
index d6fd8305..8f290071 100644
--- a/src/ao_monitor.c
+++ b/src/ao_monitor.c
@@ -92,23 +92,23 @@ ao_monitor(void)
 				       recv.telemetry.accel_plus_g,
 				       recv.telemetry.accel_minus_g);
 
-#if 0
-				/* Kalman state values */
-				printf(AO_TELEM_KALMAN_HEIGHT " %d "
-				       AO_TELEM_KALMAN_SPEED " %d "
-				       AO_TELEM_KALMAN_ACCEL " %d ",
-				       recv.telemetry.height,
-				       recv.telemetry.speed,
-				       recv.telemetry.accel);
-#else
-				/* Ad-hoc flight values */
-				printf(AO_TELEM_ADHOC_ACCEL " %d "
-				       AO_TELEM_ADHOC_SPEED " %ld "
-				       AO_TELEM_ADHOC_BARO " %d ",
-				       recv.telemetry.flight_accel,
-				       recv.telemetry.flight_vel,
-				       recv.telemetry.flight_pres);
-#endif
+				if (recv.telemetry.u.k.unused == 0x8000) {
+					/* Kalman state values */
+					printf(AO_TELEM_KALMAN_HEIGHT " %d "
+					       AO_TELEM_KALMAN_SPEED " %d "
+					       AO_TELEM_KALMAN_ACCEL " %d ",
+					       recv.telemetry.height,
+					       recv.telemetry.u.k.speed,
+					       recv.telemetry.accel);
+				} else {
+					/* Ad-hoc flight values */
+					printf(AO_TELEM_ADHOC_ACCEL " %d "
+					       AO_TELEM_ADHOC_SPEED " %ld "
+					       AO_TELEM_ADHOC_BARO " %d ",
+					       recv.telemetry.accel,
+					       recv.telemetry.u.flight_vel,
+					       recv.telemetry.height);
+				}
 				ao_gps_print(&recv.telemetry.gps);
 				ao_gps_tracking_print(&recv.telemetry.gps_tracking);
 				putchar('\n');
diff --git a/src/ao_pins.h b/src/ao_pins.h
index c602268b..a4a93aab 100644
--- a/src/ao_pins.h
+++ b/src/ao_pins.h
@@ -28,7 +28,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
-	#define USE_KALMAN		0
 	#define DBG_ON_P1 		1
 	#define DBG_ON_P0 		0
 	#define IGNITE_ON_P2		1
@@ -53,7 +52,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define HAS_DBG			1
-	#define USE_KALMAN		0
 	#define DBG_ON_P1 		1
 	#define DBG_ON_P0 		0
 	#define IGNITE_ON_P2		1
@@ -103,7 +101,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
-	#define USE_KALMAN		1
 	#define IGNITE_ON_P2		0
 	#define IGNITE_ON_P0		1
 	#define PACKET_HAS_MASTER	0
@@ -126,7 +123,6 @@
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	1
 	#define HAS_DBG			0
-	#define USE_KALMAN		1
 	#define IGNITE_ON_P2		0
 	#define IGNITE_ON_P0		1
 	#define PACKET_HAS_MASTER	0
@@ -147,7 +143,6 @@
 	#define HAS_SERIAL_1		1
 	#define HAS_ADC			1
 	#define HAS_DBG			0
-	#define USE_KALMAN		0
 	#define HAS_EEPROM		1
 	#define USE_INTERNAL_FLASH	0
 	#define DBG_ON_P1 		0
diff --git a/src/ao_report.c b/src/ao_report.c
index 3223390f..4f7fd657 100644
--- a/src/ao_report.c
+++ b/src/ao_report.c
@@ -87,7 +87,7 @@ ao_report_digit(uint8_t digit) __reentrant
 static void
 ao_report_altitude(void)
 {
-	__xdata int16_t	agl = ao_pres_to_altitude(ao_min_pres) - ao_pres_to_altitude(ao_ground_pres);
+	__xdata int16_t	agl = ao_max_height;
 	__xdata uint8_t	digits[10];
 	__xdata uint8_t ndigits, i;
 
diff --git a/src/ao_telemetry.c b/src/ao_telemetry.c
index 6556ce32..9a86882f 100644
--- a/src/ao_telemetry.c
+++ b/src/ao_telemetry.c
@@ -45,12 +45,13 @@ ao_telemetry(void)
 		time = ao_rdf_time = ao_time();
 		while (ao_telemetry_interval) {
 			telemetry.flight_state = ao_flight_state;
+			telemetry.height = ao_height;
+			telemetry.u.k.speed = ao_speed;
+			telemetry.accel = ao_accel;
+			telemetry.u.k.unused = 0x8000;
 #if HAS_ACCEL
-			telemetry.flight_accel = ao_flight_accel;
 			telemetry.ground_accel = ao_ground_accel;
-			telemetry.flight_vel = ao_flight_vel;
 #endif
-			telemetry.flight_pres = ao_flight_pres;
 			telemetry.ground_pres = ao_ground_pres;
 #if HAS_ADC
 			ao_adc_get(&telemetry.adc);
diff --git a/src/ao_telemetry_tiny.c b/src/ao_telemetry_tiny.c
index 83ba7fc0..6f2ddda1 100644
--- a/src/ao_telemetry_tiny.c
+++ b/src/ao_telemetry_tiny.c
@@ -43,9 +43,9 @@ ao_telemetry_tiny(void)
 		time = ao_rdf_time = ao_time();
 		while (ao_telemetry_tiny_interval) {
 			telemetry_tiny.flight_state = ao_flight_state;
-			telemetry_tiny.height = ao_k_height >> 16;
-			telemetry_tiny.speed = ao_k_speed >> 12;
-			telemetry_tiny.accel = ao_k_accel >> 12;
+			telemetry_tiny.height = ao_height;
+			telemetry_tiny.speed = ao_speed;
+			telemetry_tiny.accel = ao_accel;
 			telemetry_tiny.ground_pres = ao_ground_pres;
 			ao_adc_get(&telemetry_tiny.adc);
 			ao_radio_send(&telemetry_tiny, sizeof (telemetry_tiny));
diff --git a/src/test/.gitignore b/src/test/.gitignore
index 0a43de8a..33c7ef35 100644
--- a/src/test/.gitignore
+++ b/src/test/.gitignore
@@ -1,5 +1,6 @@
 ao_flight_test
 ao_flight_test_baro
+ao_flight_test_accel
 ao_gps_test
 ao_gps_test_skytraq
 ao_convert_test
diff --git a/src/test/Makefile b/src/test/Makefile
index 853713fa..433f749b 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,6 +1,7 @@
 vpath % ..
+vpath % ../kalman
 
-PROGS=ao_flight_test ao_flight_test_baro ao_gps_test ao_gps_test_skytraq ao_convert_test
+PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
 
 CFLAGS=-I.. -I.
 
@@ -11,12 +12,15 @@ clean:
 
 install:
 
-ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c altitude.h
+ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
 	cc -g -o $@ $<
 
-ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c altitude.h
+ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
 	cc -g -o $@ -DHAS_ACCEL=0 ../ao_flight_test.c
 
+ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c altitude.h ao_kalman.h
+	cc -g -o $@ -DFORCE_ACCEL=1 ../ao_flight_test.c
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
 	cc -g -o $@ $<
 
@@ -25,3 +29,6 @@ ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_ho
 
 ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
 	cc -g -o $@ $<
+
+../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
+	sh $< > $@
diff --git a/src/test/plottest b/src/test/plottest
new file mode 100755
index 00000000..76af5ee7
--- /dev/null
+++ b/src/test/plottest
@@ -0,0 +1,16 @@
+gnuplot -persist << EOF
+set ylabel "altitude (m)"
+set y2label "velocity (m/s), acceleration(m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+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 1:15 with lines axes x1y1 title "drogue",\
+"$1" using 1:17 with lines axes x1y1 title "main",\
+"$1" using 1:19 with lines axes x1y1 title "error"
+EOF
diff --git a/src/test/run-one b/src/test/run-one
new file mode 100755
index 00000000..f9d21576
--- /dev/null
+++ b/src/test/run-one
@@ -0,0 +1,32 @@
+#!/bin/sh
+
+./ao_flight_test "$1" > run-out.full
+./ao_flight_test_baro "$1" > run-out.baro
+./ao_flight_test_accel "$1" > run-out.accel
+
+gnuplot -persist << EOF
+set ylabel "altitude (m)"
+set y2label "velocity (m/s), acceleration(m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+set title "$1"
+plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
+"run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
+"run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\
+"run-out.full" using 1:11 with lines lt 2 axes x1y2 title "full speed",\
+"run-out.full" using 1:13 with lines lt 2 axes x1y2 title "full accel",\
+"run-out.full" using 1:15 with lines lt 2 axes x1y1 title "full drogue",\
+"run-out.full" using 1:17 with lines lt 2 axes x1y1 title "full main", \
+"run-out.baro" using 1:9 with lines lt 3 axes x1y1 title "baro height",\
+"run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\
+"run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\
+"run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\
+"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main",\
+"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
+"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
+"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
+"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
+"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main"
+EOF
diff --git a/src/test/test-flights b/src/test/test-flights
index a9a2ecca..afdaba5a 100644
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -7,7 +7,6 @@
 2009-07-18-serial-001-flight-007.eeprom
 2009-08-22-serial-001-flight-001.eeprom
 2009-08-22-serial-010-flight-001.eeprom
-2009-09-05-serial-008-flight-002.eeprom
 2009-09-05-serial-010-flight-002.eeprom
 2009-09-05-serial-011-flight-001.eeprom
 2009-09-11-serial-008-flight-003.eeprom
-- 
cgit v1.2.3


From 7d7b476564a16eda81ab3406f70a21995e1b464e Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 22 Mar 2011 21:51:52 +0900
Subject: altos: Fix up flight code testing

This automates flight code testing by reporting mis-detected apogee or
main events.

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/ao_flight_test.c  | 138 ++++++++++++++++++++++++++++++++++++--------------
 src/test/run-one      |  26 ++++++----
 src/test/run-tests    |  34 ++++++-------
 src/test/test-flights |   1 -
 4 files changed, 131 insertions(+), 68 deletions(-)

(limited to 'src/test/test-flights')

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index e7bfbdd2..51a5965c 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -22,6 +22,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <getopt.h>
+#include <math.h>
 
 #define AO_HERTZ	100
 
@@ -87,11 +88,27 @@ enum ao_igniter {
 
 struct ao_adc ao_adc_static;
 
+int	drogue_height;
+double	drogue_time;
+int	main_height;
+double	main_time;
+
+int	tick_offset;
+
+static int32_t	ao_k_height;
+
 void
 ao_ignite(enum ao_igniter igniter)
 {
-	printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
-		(double) ao_adc_static.tick / 100.0);
+	double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+	if (igniter == ao_igniter_drogue) {
+		drogue_time = time;
+		drogue_height = ao_k_height >> 16;
+	} else {
+		main_time = time;
+		main_height = ao_k_height >> 16;
+	}
 }
 
 struct ao_task {
@@ -108,7 +125,12 @@ struct ao_task {
 
 #define AO_FLIGHT_TEST
 
+int	ao_flight_debug;
+
 FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+double emulator_error_max = 10;
 
 void
 ao_dump_state(void);
@@ -157,51 +179,84 @@ struct ao_config ao_config;
 extern int16_t ao_ground_accel, ao_raw_accel;
 extern int16_t ao_accel_2g;
 
-int32_t	drogue_height;
-int32_t main_height;
-
-int		tick_offset;
 uint16_t	prev_tick;
 static int	ao_records_read = 0;
 static int	ao_eof_read = 0;
 static int	ao_flight_ground_accel;
 static int	ao_flight_started = 0;
+static int	ao_test_max_height;
+static double	ao_test_max_height_time;
+static int	ao_test_main_height;
+static double	ao_test_main_height_time;
 
 void
 ao_insert(void)
 {
+	double	time;
+
 	ao_adc_ring[ao_adc_head] = ao_adc_static;
 	ao_adc_head = ao_adc_ring_next(ao_adc_head);
-	if (ao_summary)
-		return;
-	if (ao_flight_state == ao_flight_startup)
-		return;
-	{
+	if (ao_flight_state != ao_flight_startup) {
 		double	height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
 		double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 			(ao_config.accel_minus_g - ao_config.accel_plus_g);
 
 		if (!tick_offset)
-			tick_offset = ao_adc_static.tick;
-		if (!drogue_height && ao_flight_state >= ao_flight_drogue)
-			drogue_height = ao_k_height;
-		if (!main_height && ao_flight_state >= ao_flight_main)
-			main_height = ao_k_height;
-		if ((prev_tick - ao_adc_static.tick) > 0)
+			tick_offset = -ao_adc_static.tick;
+		if ((prev_tick - ao_adc_static.tick) > 0x400)
 			tick_offset += 65536;
 		prev_tick = ao_adc_static.tick;
-		printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
-		       (double) (ao_adc_static.tick + tick_offset) / 100,
-		       height,
-		       accel,
-		       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,
-		       drogue_height / 65536.0,
-		       main_height / 65536.0,
-		       ao_error_h_sq_avg);
+		time = (double) (ao_adc_static.tick + tick_offset) / 100;
+		if (!ao_summary) {
+			printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
+			       time,
+			       height,
+			       accel,
+			       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,
+			       drogue_height,
+			       main_height,
+			       ao_error_h_sq_avg);
+		}
+
+		if (ao_test_max_height < height) {
+			ao_test_max_height = height;
+			ao_test_max_height_time = time;
+		}
+		if (height > ao_config.main_deploy) {
+			ao_test_main_height_time = time;
+			ao_test_main_height = height;
+		}
+	}
+}
+
+void
+ao_test_exit(void)
+{
+	double	drogue_error;
+	double	main_error;
+
+	if (!ao_test_main_height_time) {
+		ao_test_main_height_time = ao_test_max_height_time;
+		ao_test_main_height = ao_test_max_height;
+	}
+	drogue_error = fabs(ao_test_max_height_time - drogue_time);
+	main_error = fabs(ao_test_main_height_time - main_time);
+	if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
+		printf ("%s %s\n",
+			emulator_app, emulator_name);
+		printf ("\tApogee error %g\n", drogue_error);
+		printf ("\tMain error %g\n", main_error);
+		printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
+			ao_test_max_height, ao_test_max_height_time,
+			ao_test_main_height, ao_test_main_height_time);
+		printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
+			drogue_height, drogue_time, main_height, main_time);
+		exit (1);
 	}
+	exit(0);
 }
 
 void
@@ -228,8 +283,9 @@ ao_sleep(void *wchan)
 
 			if (!fgets(line, sizeof (line), emulator_in)) {
 				if (++ao_eof_read >= 1000) {
-					printf ("no more data, exiting simulation\n");
-					exit(0);
+					if (!ao_summary)
+						printf ("no more data, exiting simulation\n");
+					ao_test_exit();
 				}
 				ao_adc_static.tick += 10;
 				ao_insert();
@@ -247,10 +303,10 @@ ao_sleep(void *wchan)
 				tick = strtoul(words[1], NULL, 16);
 				a = strtoul(words[2], NULL, 16);
 				b = strtoul(words[3], NULL, 16);
-			} else if (nword >= 6 && strcmp(words[0], "Accel")) {
+			} 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]);
-			} else if (nword >= 4 && strcmp(words[0], "Main")) {
+			} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 				ao_config.main_deploy = atoi(words[2]);
 			} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 				tick = atoi(words[10]);
@@ -308,21 +364,17 @@ ao_sleep(void *wchan)
 void
 ao_dump_state(void)
 {
-	if (ao_flight_state == ao_flight_startup)
-		return;
-	if (ao_summary)
-		return;
-	if (ao_flight_state == ao_flight_landed)
-		exit(0);
 }
 
 static const struct option options[] = {
 	{ .name = "summary", .has_arg = 0, .val = 's' },
+	{ .name = "debug", .has_arg = 0, .val = 'd' },
 	{ 0, 0, 0, 0},
 };
 
 void run_flight_fixed(char *name, FILE *f, int summary)
 {
+	emulator_name = name;
 	emulator_in = f;
 	ao_summary = summary;
 	ao_flight_init();
@@ -336,11 +388,19 @@ main (int argc, char **argv)
 	int	c;
 	int	i;
 
-	while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
+#if HAS_ACCEL
+	emulator_app="full";
+#else
+	emulator_app="baro";
+#endif
+	while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 		switch (c) {
 		case 's':
 			summary = 1;
 			break;
+		case 'd':
+			ao_flight_debug = 1;
+			break;
 		}
 	}
 
diff --git a/src/test/run-one b/src/test/run-one
index f9d21576..d661abec 100755
--- a/src/test/run-one
+++ b/src/test/run-one
@@ -1,17 +1,24 @@
 #!/bin/sh
 
-./ao_flight_test "$1" > run-out.full
-./ao_flight_test_baro "$1" > run-out.baro
-./ao_flight_test_accel "$1" > run-out.accel
+for i in "$@"; do
+./ao_flight_test "$i" > run-out.full
+./ao_flight_test_baro "$i" > run-out.baro
+#./ao_flight_test_accel "$i" > run-out.accel
 
-gnuplot -persist << EOF
+#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
+#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
+#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
+#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
+#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\
+
+gnuplot << EOF
 set ylabel "altitude (m)"
 set y2label "velocity (m/s), acceleration(m/s²)"
 set xlabel "time (s)"
 set xtics border out nomirror
 set ytics border out nomirror
 set y2tics border out nomirror
-set title "$1"
+set title "$i"
 plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
 "run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
 "run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\
@@ -23,10 +30,7 @@ plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",
 "run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\
 "run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\
 "run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\
-"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main",\
-"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
-"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
-"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
-"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
-"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main"
+"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main"
+pause mouse close
 EOF
+done
\ No newline at end of file
diff --git a/src/test/run-tests b/src/test/run-tests
index ec279776..11b4c95c 100755
--- a/src/test/run-tests
+++ b/src/test/run-tests
@@ -2,21 +2,21 @@
 
 DIR=~/src/cc1111/flights
 
+bad_baro=0
+bad_full=0
 while read flight; do
-	baro=`./ao_flight_test_baro -s $DIR/$flight |
-		awk '/drogue/ {	printf "%s ", $4 }
-		/main/ { printf "%s\n", $4 }'`
-	full=`./ao_flight_test -s $DIR/$flight |
-		awk '/drogue/ {	printf "%s ", $4 }
-		/main/ { printf "%s\n", $4 }'`
-	echo $flight $baro $full
-done < test-flights |
-awk '{ name = $1;
-	drogue_error = $2 - $4;
-	if (drogue_error < 0) drogue_error = -drogue_error;
-	main_error = $3 - $5;
-	if (main_error < 0) main_error = -main_error;
-	if (drogue_error > 4 || main_error > 4)
-		printf ("%s: baro drogue %f main %f. full drogue %f main %f\n",
-			name, $2, $3, $4, $5);
-	}'
+    if ./ao_flight_test_baro -s $DIR/$flight; then
+	:
+    else
+	((bad_baro++))
+    fi
+    if ./ao_flight_test -s $DIR/$flight; then
+	:
+    else
+	((bad_full++))
+    fi
+done < test-flights
+echo baro errors $bad_baro
+echo full errors $bad_full
+((bad = bad_baro + bad_full))
+exit $bad
\ No newline at end of file
diff --git a/src/test/test-flights b/src/test/test-flights
index afdaba5a..0b90d9e0 100644
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -63,7 +63,6 @@
 2010-09-24-serial-236-flight-006.eeprom
 2010-09-25-serial-223-flight-001.eeprom
 2010-10-17-serial-215-flight-006.eeprom
-2010-10-23-serial-236-flight-008.eeprom
 2011-01-30-serial-056-flight-001.eeprom
 2011-01-30-serial-250-flight-002.eeprom
 2011-02-19-serial-215-flight-007.eeprom
-- 
cgit v1.2.3


From 1e976a105423f2da1842f70da531c9051ba88a7f Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Wed, 23 Mar 2011 10:42:31 +0900
Subject: Add description to test flights

---
 src/test/test-flights | 140 +++++++++++++++++++++++++-------------------------
 1 file changed, 70 insertions(+), 70 deletions(-)

(limited to 'src/test/test-flights')

diff --git a/src/test/test-flights b/src/test/test-flights
index 0b90d9e0..f6b3b992 100644
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -1,70 +1,70 @@
-2009-06-03-serial-003-flight-002.eeprom
-2009-06-05-serial-004-flight-008.eeprom
-2009-06-06-serial-004-flight-009.eeprom
-2009-06-14-serial-004-flight-010.eeprom
-2009-06-20-serial-003-flight-003.eeprom
-2009-07-04-serial-001-flight-006.eeprom
-2009-07-18-serial-001-flight-007.eeprom
-2009-08-22-serial-001-flight-001.eeprom
-2009-08-22-serial-010-flight-001.eeprom
-2009-09-05-serial-010-flight-002.eeprom
-2009-09-05-serial-011-flight-001.eeprom
-2009-09-11-serial-008-flight-003.eeprom
-2009-09-12-serial-002-flight-002.eeprom
-2009-09-12-serial-008-flight-005.eeprom
-2009-09-12-serial-008-flight-007.eeprom
-2009-09-19-serial-011-flight-002.eeprom
-2009-10-03-serial-008-flight-009.eeprom
-2009-10-03-serial-008-flight-010.eeprom
-2009-10-03-serial-009-flight-001.eeprom
-2009-10-03-serial-011-flight-003.eeprom
-2009-10-17-serial-009-flight-002.eeprom
-2009-11-14-serial-003-flight-005.eeprom
-2009-11-14-serial-003-flight-006.eeprom
-2009-11-21-serial-013-flight-001.eeprom
-2009-11-21-serial-013-flight-002.eeprom
-2010-02-13-serial-051-flight-002.eeprom
-2010-02-13-serial-052-flight-002.eeprom
-2010-02-28-serial-052-flight-003.eeprom
-2010-02-28-serial-052-flight-004.eeprom
-2010-03-06-serial-010-flight-004.eeprom
-2010-03-06-serial-013-flight-003.eeprom
-2010-03-06-serial-051-flight-003.eeprom
-2010-03-06-serial-053-flight-004.eeprom
-2010-05-08-serial-229-flight-002.eeprom
-2010-05-28-serial-215-flight-002.eeprom
-2010-05-28-serial-224-flight-001.eeprom
-2010-05-29-serial-052-flight-005.eeprom
-2010-05-30-serial-010-flight-005.eeprom
-2010-05-30-serial-051-flight-004.eeprom
-2010-05-30-serial-224-flight-003.eeprom
-2010-05-30-serial-226-flight-001.eeprom
-2010-05-31-serial-010-flight-006.eeprom
-2010-05-31-serial-216-flight-001.eeprom
-2010-05-31-serial-219-flight-001.eeprom
-2010-05-31-serial-227-flight-003.eeprom
-2010-06-05-serial-220-flight-001.eeprom
-2010-06-26-serial-209-flight-003.eeprom
-2010-06-26-serial-215-flight-004.eeprom
-2010-06-26-serial-220-flight-002.eeprom
-2010-06-26-serial-226-flight-002.eeprom
-2010-06-27-serial-221-flight-002.eeprom
-2010-07-17-serial-230-flight-001.eeprom
-2010-07-18-serial-219-flight-002.eeprom
-2010-08-07-serial-216-flight-003.eeprom
-2010-08-07-serial-220-flight-003.eeprom
-2010-08-12-serial-236-flight-001.eeprom
-2010-08-21-serial-010-flight-007.eeprom
-2010-08-21-serial-224-flight-004.eeprom
-2010-08-21-serial-224-flight-005.eeprom
-2010-08-21-serial-233-flight-002.eeprom
-2010-09-03-serial-051-flight-005.eeprom
-2010-09-03-serial-215-flight-005.eeprom
-2010-09-24-serial-236-flight-006.eeprom
-2010-09-25-serial-223-flight-001.eeprom
-2010-10-17-serial-215-flight-006.eeprom
-2011-01-30-serial-056-flight-001.eeprom
-2011-01-30-serial-250-flight-002.eeprom
-2011-02-19-serial-215-flight-007.eeprom
-2011-02-19-serial-216-flight-006.eeprom
-2011-02-19-serial-286-flight-001.eeprom
+2009-06-03-serial-003-flight-002.eeprom PSAS flight on research motor.Lots of ugly bumps.
+2009-06-05-serial-004-flight-008.eeprom Add June 2009 Lil Nuke flight
+2009-06-06-serial-004-flight-009.eeprom Another Lil nuke flight? 700m, subsonic.
+2009-06-14-serial-004-flight-010.eeprom Lil nuke flies again. 450m, subsonic.
+2009-06-20-serial-003-flight-003.eeprom Transonic flight. 2100m, single deploy.
+2009-07-04-serial-001-flight-006.eeprom Subsonic, 1100m, noisy descent.
+2009-07-18-serial-001-flight-007.eeprom Transonic, 1900m, noisy descent.
+2009-08-22-serial-001-flight-001.eeprom Transonic 2200m. noisy descent
+2009-08-22-serial-010-flight-001.eeprom Subsonic, laggy baro. 400m
+2009-09-05-serial-010-flight-002.eeprom Subsonic, fairly quick baro. 600m
+2009-09-05-serial-011-flight-001.eeprom Subsonic, 1800m. Early Ejection confuses apogee detect.
+2009-09-11-serial-008-flight-003.eeprom Subsonic, 200m, early ejection.
+2009-09-12-serial-002-flight-002.eeprom Subsonic. 1200m. Very nice baro velocity
+2009-09-12-serial-008-flight-005.eeprom Low flight. 220m, 100m/s.
+2009-09-12-serial-008-flight-007.eeprom Model flight.
+2009-09-19-serial-011-flight-002.eeprom Subsonic, but noisy baro.
+2009-10-03-serial-008-flight-009.eeprom Transonic baro bump. 1600m.
+2009-10-03-serial-008-flight-010.eeprom Barely transonic, but other baro bumps.
+2009-10-03-serial-009-flight-001.eeprom Add Ofest ToT flight (drag race with Candy Cane). subsonic, but a bit of baro noise.
+2009-10-03-serial-011-flight-003.eeprom Add Ofest G-spot flight. transonic bump, ugly looking data.
+2009-10-17-serial-009-flight-002.eeprom Clean looking subsonic flight, small baro slump at max-Q
+2009-11-14-serial-003-flight-005.eeprom Model flight.
+2009-11-14-serial-003-flight-006.eeprom Model flight.
+2009-11-21-serial-013-flight-001.eeprom ToT AMW J450ST with Jason Chamberlin strontium nitrate igniter
+2009-11-21-serial-013-flight-002.eeprom ToT - CTI 1009J420CL pro38 6xl
+2010-02-13-serial-051-flight-002.eeprom G-Spot at Albuquerque Rocket Society launch site in Rio Rancho, NM Cesaroni 229H255WT-14A
+2010-02-13-serial-052-flight-002.eeprom Add Grappler flight at OROC February model launch
+2010-02-28-serial-052-flight-003.eeprom LDDD Tillamook airport, 2010-02-28, H252
+2010-02-28-serial-052-flight-004.eeprom LDDD Tillamook airport, 2010-02-28, I161
+2010-03-06-serial-010-flight-004.eeprom Robert's Lil Nuke at Hudson Ranch on a CTI 108G57CL Pro29
+2010-03-06-serial-013-flight-003.eeprom Trick-O-Treat at Hudson Ranch on a J595BS
+2010-03-06-serial-051-flight-003.eeprom G-Spot at Hudson Ranch on an H180W
+2010-03-06-serial-053-flight-004.eeprom Horizon Rebuilt at Hudson Ranch on a J530IM with MAWD as backup
+2010-05-08-serial-229-flight-002.eeprom First customer flight on a sparky.
+2010-05-28-serial-215-flight-002.eeprom Mike's L1 cert flight. Congrats!
+2010-05-28-serial-224-flight-001.eeprom Bill Mott's amram
+2010-05-29-serial-052-flight-005.eeprom LDDD on J335 at MHM
+2010-05-30-serial-010-flight-005.eeprom Robert's Lil Nuke on a 84G88 Smoky Sam at Mile High Mayhem 2010 Version 0.1 TeleMetrum with 5010 GPS board.
+2010-05-30-serial-051-flight-004.eeprom Bdale's G-Spot on a CTI 298H159 Green3 at Mile High Mayhem 2010
+2010-05-30-serial-224-flight-003.eeprom Bill Mott's L3 cert flight
+2010-05-30-serial-226-flight-001.eeprom Robert's RG-2 on a 159G54RL at Mile High Mayhem. Very noise accel data, early apogee
+2010-05-31-serial-010-flight-006.eeprom Robert's Lil Nuke with a v0.1 TeleMetrum and 5010 GPS board flying on a 159G118 Blue Streak on the last day of Mile High Mayhem 2010
+2010-05-31-serial-216-flight-001.eeprom Sharp Stick in the Sky on an "I something" EX motor from James Russell
+2010-05-31-serial-219-flight-001.eeprom Candy Cane on CTI K300 at MHM.
+2010-05-31-serial-227-flight-003.eeprom Mike's Rocket on J285 for successful L2 cert at MHM
+2010-06-05-serial-220-flight-001.eeprom Mini-mmuchness on 159G54RL, Sunday at MHM 2010
+2010-06-26-serial-209-flight-003.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
+2010-06-26-serial-215-flight-004.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
+2010-06-26-serial-220-flight-002.eeprom Mini Mmuchness on CTI H120CL to 1975m, OROC June 2010
+2010-06-26-serial-226-flight-002.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
+2010-06-27-serial-221-flight-002.eeprom PSAS LV2c on N2000 at OROC june launch
+2010-07-17-serial-230-flight-001.eeprom Mike Ward's Level 1 cert flight on H225
+2010-07-18-serial-219-flight-002.eeprom MMuchness on M1230 for successful L3 cert flight
+2010-08-07-serial-216-flight-003.eeprom Sharp stick on I300T at Metra's august launch. Main out at apogee.
+2010-08-07-serial-220-flight-003.eeprom Mini-mmuchness flight at Metra after debconf. Unstable on G80. ABNORMAL FLIGHT.
+2010-08-12-serial-236-flight-001.eeprom Edgar's L1 flight, Madcow Momba on Aerotech H128
+2010-08-21-serial-010-flight-007.eeprom Robert's Lil Nuke, flying on a CTI Pro29 2-grain 110G250 Vmax. Just awesome!  PFND.
+2010-08-21-serial-224-flight-004.eeprom Anthony Towns' LDDD clone, successful L1 cert on a CTI Pro38 2-grain 266H125 classic.  Airframe was set up for apogee-only with motor based ejection.  The BP charge was larger than necessary, caused nose cone to snap back against aft airframe.  Minor damage to leading edge of aft airframe, big chunk of the nose cone skin cracked away.  Same problem Bdale saw on Sharp Stick's nosecone, also from Performance Rocketry, where there was apparently an air bubble below the gel coat.  Determination was that damage was cosmetic and would not affect cert... confirmed by successful L2 later in the day!
+2010-08-21-serial-224-flight-005.eeprom Anthony Towns' LDDD clone, successful L2 cert on a CTI Pro38 5-grain 58J357 blue streak.  Perfect drogueless dual deploy!  0.8-0.9 grams aft charge and about 1.0 grams forward.  Flew without ground testing charges due to time pressure before waiver closed for the day.  About as close to the waiver as you'd ever want to be on a cert flight, again demonstrating that OpenRocket under-estimates apogee ... approximately 6800 ft predicted...
+2010-08-21-serial-233-flight-002.eeprom Tim van Milligan's 5.5" L2 airframe, flying on a CTI Pro38 6-grain 774J410 red, TM indicated a problem with the apogee igniter continuity, noticed during countdown, turned out to be a loose wire!  Perfect dual deploy flight once that was fixed.
+2010-09-03-serial-051-flight-005.eeprom G-spot on an old Aerotech H125-20W single use 29mm motor.  It appears the ejection at apogee actually happened much later, perhaps as much as 10 seconds late!
+2010-09-03-serial-215-flight-005.eeprom Horizon Rebuild on a K490 Green3 reload.  PFND. About 1.4 grams each end.
+2010-09-24-serial-236-flight-006.eeprom LDDD on I236 in Sheridan on 2010-09-24 to 1216m
+2010-09-25-serial-223-flight-001.eeprom Bdale's 10" Goblin, flying on a CTI Pro75 M1300 Imax dual thrust during Chili Blaster 2 at Hudson Ranch.  First flight after rebuild to do dual deploy from one bay with ARRD and 15' surplus "+ sign" parachute.
+2010-10-17-serial-215-flight-006.eeprom Horizon Rebuild on CTI J595BS at Tripoli Colorado launch site near Hartsel, CO
+2011-01-30-serial-056-flight-001.eeprom Group project 5.5" Polecat Thumper airframe built in the Quay West Suites in Brisbane, Australia, during LCA 2011 by Bdale, Keith, Mike Beattie, and Anthony Towns.  Flown at QRS club launch on an Aerotech J315R 54mm 2-grain motor.
+2011-01-30-serial-250-flight-002.eeprom Group project 5.5" Polecat Thumper airframe built in the Quay West Suites in Brisbane, Australia, during LCA 2011 by Bdale, Keith, Mike Beattie, and Anthony Towns.  Flown at QRS club launch on an Aerotech J315R 54mm 2-grain motor.
+2011-02-19-serial-215-flight-007.eeprom Horizon Rebuild on a CTI Pro38 6xl J600R at Hudson Ranch 1.0 grams BP rear, 1.5 grams front Perfect drogueless dual deploy flight with no damage!
+2011-02-19-serial-216-flight-006.eeprom Sharp Stick on a CTI Pro38 3-grain I345WT at Hudson Ranch Added more kevlar to the aft end, flew with 1.3 grams BP rear and 1.0 front. Perfect drogueless dual deploy flight, and no damage!
+2011-02-19-serial-286-flight-001.eeprom Vertical Assault on a CTI Pro38 6xl J595BS at Hudson Ranch 1.5 grams BP rear, 1.8 grams BP front Perfect drogueless dual deploy flight, with no damage!
-- 
cgit v1.2.3


From a60c5a728530e4659a6750d8d5b87000735d4531 Mon Sep 17 00:00:00 2001
From: Keith Packard <keithp@keithp.com>
Date: Tue, 10 Jul 2012 15:15:00 -0700
Subject: altos: Improve ao_flight_test a bit

Add -i flag to include flight description
Have run-tests know how many failures to expect
Add run_baro to plot a single flight using the baro-only mode

Signed-off-by: Keith Packard <keithp@keithp.com>
---
 src/test/run-baro     | 31 +++++++++++++++++++++++++++++++
 src/test/run-tests    | 17 +++++++++++------
 src/test/test-flights | 14 +++++++-------
 3 files changed, 49 insertions(+), 13 deletions(-)
 create mode 100755 src/test/run-baro

(limited to 'src/test/test-flights')

diff --git a/src/test/run-baro b/src/test/run-baro
new file mode 100755
index 00000000..21bab9fb
--- /dev/null
+++ b/src/test/run-baro
@@ -0,0 +1,31 @@
+#!/bin/sh
+
+for i in "$@"; do
+./ao_flight_test_baro "$i" > run-out.baro
+
+#./ao_flight_test_accel "$i" > run-out.accel
+#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
+#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
+#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
+#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
+#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\
+#
+
+gnuplot << EOF
+set ylabel "altitude (m)"
+set y2label "velocity (m/s), acceleration(m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+set title "$i"
+plot "run-out.baro" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
+"run-out.baro" using 1:5 with lines lw 2 lt 2 axes x1y2 title "raw accel",\
+"run-out.baro" using 1:9 with lines lt 3 axes x1y1 title "baro height",\
+"run-out.baro" using 1:11 with lines lt 4 axes x1y2 title "baro speed",\
+"run-out.baro" using 1:13 with lines lt 5 axes x1y2 title "baro accel",\
+"run-out.baro" using 1:17 with lines lt 6 axes x1y1 title "baro drogue",\
+"run-out.baro" using 1:19 with lines lt 7 axes x1y1 title "baro main"
+pause mouse close
+EOF
+done
\ No newline at end of file
diff --git a/src/test/run-tests b/src/test/run-tests
index a8a8dc3f..4edecf1a 100755
--- a/src/test/run-tests
+++ b/src/test/run-tests
@@ -2,21 +2,26 @@
 
 DIR=~/misc/rockets/flights
 
+expect_baro=2
+expect_full=5
+
 bad_baro=0
 bad_full=0
 while read flight description; do
-    if ./ao_flight_test_baro -s $DIR/$flight; then
+    if ./ao_flight_test_baro -s -i "$description" $DIR/$flight; then
 	:
     else
 	: $((bad_baro++))
     fi
-    if ./ao_flight_test -s $DIR/$flight; then
+    if ./ao_flight_test -s -i "$description" $DIR/$flight; then
 	:
     else
 	: $((bad_full++))
     fi
 done < test-flights
-echo baro errors $bad_baro
-echo full errors $bad_full
-: $((bad = bad_baro + bad_full))
-exit $bad
\ No newline at end of file
+echo baro errors $bad_baro expected $expect_baro
+echo full errors $bad_full expected $expect_full
+: $((miss_baro = bad_baro > expect_baro ? bad_baro - expect_baro : expect_baro - bad_baro))
+: $((miss_full = bad_full > expect_full ? bad_full - expect_full : expect_full - bad_full))
+: $((miss = miss_baro + miss_full))
+exit $miss
\ No newline at end of file
diff --git a/src/test/test-flights b/src/test/test-flights
index f6b3b992..12f62ea9 100644
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -29,7 +29,7 @@
 2010-02-28-serial-052-flight-004.eeprom LDDD Tillamook airport, 2010-02-28, I161
 2010-03-06-serial-010-flight-004.eeprom Robert's Lil Nuke at Hudson Ranch on a CTI 108G57CL Pro29
 2010-03-06-serial-013-flight-003.eeprom Trick-O-Treat at Hudson Ranch on a J595BS
-2010-03-06-serial-051-flight-003.eeprom G-Spot at Hudson Ranch on an H180W
+2010-03-06-serial-051-flight-003.eeprom G-Spot at Hudson Ranch on an H180W (apogee early, fools ao_flight_test_baro)
 2010-03-06-serial-053-flight-004.eeprom Horizon Rebuilt at Hudson Ranch on a J530IM with MAWD as backup
 2010-05-08-serial-229-flight-002.eeprom First customer flight on a sparky.
 2010-05-28-serial-215-flight-002.eeprom Mike's L1 cert flight. Congrats!
@@ -38,28 +38,28 @@
 2010-05-30-serial-010-flight-005.eeprom Robert's Lil Nuke on a 84G88 Smoky Sam at Mile High Mayhem 2010 Version 0.1 TeleMetrum with 5010 GPS board.
 2010-05-30-serial-051-flight-004.eeprom Bdale's G-Spot on a CTI 298H159 Green3 at Mile High Mayhem 2010
 2010-05-30-serial-224-flight-003.eeprom Bill Mott's L3 cert flight
-2010-05-30-serial-226-flight-001.eeprom Robert's RG-2 on a 159G54RL at Mile High Mayhem. Very noise accel data, early apogee
+2010-05-30-serial-226-flight-001.eeprom Robert's RG-2 on a 159G54RL at Mile High Mayhem. Very noise accel data, early apogee (fools full)
 2010-05-31-serial-010-flight-006.eeprom Robert's Lil Nuke with a v0.1 TeleMetrum and 5010 GPS board flying on a 159G118 Blue Streak on the last day of Mile High Mayhem 2010
 2010-05-31-serial-216-flight-001.eeprom Sharp Stick in the Sky on an "I something" EX motor from James Russell
-2010-05-31-serial-219-flight-001.eeprom Candy Cane on CTI K300 at MHM.
+2010-05-31-serial-219-flight-001.eeprom Candy Cane on CTI K300 at MHM. (accel noise fools full)
 2010-05-31-serial-227-flight-003.eeprom Mike's Rocket on J285 for successful L2 cert at MHM
 2010-06-05-serial-220-flight-001.eeprom Mini-mmuchness on 159G54RL, Sunday at MHM 2010
 2010-06-26-serial-209-flight-003.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
-2010-06-26-serial-215-flight-004.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
+2010-06-26-serial-215-flight-004.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch (accel noise fools full)
 2010-06-26-serial-220-flight-002.eeprom Mini Mmuchness on CTI H120CL to 1975m, OROC June 2010
 2010-06-26-serial-226-flight-002.eeprom Tripoli Colorado Spring Fling with COSROCS at the Buffalo Ranch
 2010-06-27-serial-221-flight-002.eeprom PSAS LV2c on N2000 at OROC june launch
 2010-07-17-serial-230-flight-001.eeprom Mike Ward's Level 1 cert flight on H225
 2010-07-18-serial-219-flight-002.eeprom MMuchness on M1230 for successful L3 cert flight
 2010-08-07-serial-216-flight-003.eeprom Sharp stick on I300T at Metra's august launch. Main out at apogee.
-2010-08-07-serial-220-flight-003.eeprom Mini-mmuchness flight at Metra after debconf. Unstable on G80. ABNORMAL FLIGHT.
-2010-08-12-serial-236-flight-001.eeprom Edgar's L1 flight, Madcow Momba on Aerotech H128
+2010-08-07-serial-220-flight-003.eeprom Mini-mmuchness flight at Metra after debconf. Unstable on G80. ABNORMAL FLIGHT. (fools full)
+2010-08-12-serial-236-flight-001.eeprom Edgar's L1 flight, Madcow Momba on Aerotech H128 (early apogee charge fools baro)
 2010-08-21-serial-010-flight-007.eeprom Robert's Lil Nuke, flying on a CTI Pro29 2-grain 110G250 Vmax. Just awesome!  PFND.
 2010-08-21-serial-224-flight-004.eeprom Anthony Towns' LDDD clone, successful L1 cert on a CTI Pro38 2-grain 266H125 classic.  Airframe was set up for apogee-only with motor based ejection.  The BP charge was larger than necessary, caused nose cone to snap back against aft airframe.  Minor damage to leading edge of aft airframe, big chunk of the nose cone skin cracked away.  Same problem Bdale saw on Sharp Stick's nosecone, also from Performance Rocketry, where there was apparently an air bubble below the gel coat.  Determination was that damage was cosmetic and would not affect cert... confirmed by successful L2 later in the day!
 2010-08-21-serial-224-flight-005.eeprom Anthony Towns' LDDD clone, successful L2 cert on a CTI Pro38 5-grain 58J357 blue streak.  Perfect drogueless dual deploy!  0.8-0.9 grams aft charge and about 1.0 grams forward.  Flew without ground testing charges due to time pressure before waiver closed for the day.  About as close to the waiver as you'd ever want to be on a cert flight, again demonstrating that OpenRocket under-estimates apogee ... approximately 6800 ft predicted...
 2010-08-21-serial-233-flight-002.eeprom Tim van Milligan's 5.5" L2 airframe, flying on a CTI Pro38 6-grain 774J410 red, TM indicated a problem with the apogee igniter continuity, noticed during countdown, turned out to be a loose wire!  Perfect dual deploy flight once that was fixed.
 2010-09-03-serial-051-flight-005.eeprom G-spot on an old Aerotech H125-20W single use 29mm motor.  It appears the ejection at apogee actually happened much later, perhaps as much as 10 seconds late!
-2010-09-03-serial-215-flight-005.eeprom Horizon Rebuild on a K490 Green3 reload.  PFND. About 1.4 grams each end.
+2010-09-03-serial-215-flight-005.eeprom Horizon Rebuild on a K490 Green3 reload.  PFND. About 1.4 grams each end. (accel noise fools full)
 2010-09-24-serial-236-flight-006.eeprom LDDD on I236 in Sheridan on 2010-09-24 to 1216m
 2010-09-25-serial-223-flight-001.eeprom Bdale's 10" Goblin, flying on a CTI Pro75 M1300 Imax dual thrust during Chili Blaster 2 at Hudson Ranch.  First flight after rebuild to do dual deploy from one bay with ARRD and 15' surplus "+ sign" parachute.
 2010-10-17-serial-215-flight-006.eeprom Horizon Rebuild on CTI J595BS at Tripoli Colorado launch site near Hartsel, CO
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