blob: 96d47fac6b33fd5dc29f9d9a17961cab2d229812 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
|
/*
* Copyright © 2011 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#include "ao.h"
/* Main flight thread. */
enum ao_flight_state ao_flight_state; /* current flight state */
uint16_t ao_launch_tick; /* time of launch detect */
/*
* track min/max data over a long interval to detect
* resting
*/
uint16_t ao_interval_end;
alt_t ao_interval_min_height;
alt_t ao_interval_max_height;
uint8_t ao_flight_force_idle;
/* Landing is detected by getting constant readings from both pressure and accelerometer
* for a fairly long time (AO_INTERVAL_TICKS)
*/
#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
static void
ao_flight_nano(void)
{
ao_sample_init();
ao_flight_state = ao_flight_startup;
for (;;) {
/*
* Process ADC samples, just looping
* until the sensors are calibrated.
*/
if (!ao_sample())
continue;
switch (ao_flight_state) {
case ao_flight_startup:
if (ao_flight_force_idle) {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
} else {
ao_flight_state = ao_flight_pad;
/* Disable packet mode in pad state */
ao_packet_slave_stop();
/* Turn on telemetry system */
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
}
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
/* wakeup threads due to state change */
ao_wakeup(&ao_flight_state);
break;
case ao_flight_pad:
if (ao_height> AO_M_TO_HEIGHT(20)) {
ao_flight_state = ao_flight_drogue;
ao_launch_tick = ao_sample_tick;
/* start logging data */
ao_log_start();
ao_wakeup(&ao_flight_state);
}
break;
case ao_flight_drogue:
/* drogue/main to land:
*
* barometer: altitude stable
*/
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_sample_tick - ao_interval_end) >= 0) {
if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
{
ao_flight_state = ao_flight_landed;
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
ao_wakeup(&ao_flight_state);
}
ao_interval_min_height = ao_interval_max_height = ao_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
break;
}
}
}
static struct ao_task flight_task;
void
ao_flight_nano_init(void)
{
ao_flight_state = ao_flight_startup;
ao_add_task(&flight_task, ao_flight_nano, "flight");
}
|
