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/*
* Copyright © 2014 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; version 2 of the License.
*
* 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>
#include <ao_flight.h>
#include <ao_distance.h>
#include <ao_exti.h>
enum ao_flight_state ao_flight_state;
/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
#define AO_TRACKER_NOT_MOVING 200
static uint8_t ao_tracker_force_telem;
static uint8_t ao_tracker_force_launch;
#if HAS_USB_CONNECT
static inline uint8_t
ao_usb_connected(void)
{
return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
}
#else
#define ao_usb_connected() 1
#endif
#define STARTUP_AVERAGE 5
static void
ao_tracker_start_flight(void)
{
struct ao_log_mega log;
ao_log_start();
log.type = AO_LOG_FLIGHT;
log.tick = ao_time();
#if HAS_ACCEL
log.u.flight.ground_accel = ao_ground_accel;
#endif
#if HAS_GYRO
log.u.flight.ground_accel_along = ao_ground_accel_along;
log.u.flight.ground_accel_across = ao_ground_accel_across;
log.u.flight.ground_accel_through = ao_ground_accel_through;
log.u.flight.ground_roll = ao_ground_roll;
log.u.flight.ground_pitch = ao_ground_pitch;
log.u.flight.ground_yaw = ao_ground_yaw;
#endif
#if HAS_FLIGHT
log.u.flight.ground_pres = ao_ground_pres;
#endif
log.u.flight.flight = ao_flight_number;
ao_log_mega(&log);
}
static void
ao_tracker(void)
{
uint16_t telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
uint8_t gps_rate = 1, new_gps_rate;
uint8_t telem_enabled = 0, new_telem_enabled;
int32_t start_latitude = 0, start_longitude = 0;
int16_t start_altitude = 0;
uint32_t ground_distance;
int16_t height;
uint16_t speed;
int64_t lat_sum = 0, lon_sum = 0;
int32_t alt_sum = 0;
int nsamples = 0;
#if HAS_ADC
ao_timer_set_adc_interval(100);
#endif
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
ao_log_scan();
ao_rdf_set(1);
ao_telemetry_set_interval(0);
ao_flight_state = ao_flight_startup;
for (;;) {
ao_sleep(&ao_gps_new);
new_gps_rate = gps_rate;
new_telem_rate = telem_rate;
new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
ao_mutex_get(&ao_gps_mutex);
/* Don't change anything if GPS isn't locked */
if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
(AO_GPS_VALID|AO_GPS_COURSE_VALID))
{
switch (ao_flight_state) {
case ao_flight_startup:
/* startup to pad when GPS locks */
lat_sum += ao_gps_data.latitude;
lon_sum += ao_gps_data.longitude;
alt_sum += ao_gps_data.altitude;
if (++nsamples >= STARTUP_AVERAGE) {
ao_flight_state = ao_flight_pad;
ao_wakeup(&ao_flight_state);
start_latitude = lat_sum / nsamples;
start_longitude = lon_sum / nsamples;
start_altitude = alt_sum / nsamples;
}
break;
case ao_flight_pad:
ground_distance = ao_distance(ao_gps_data.latitude,
ao_gps_data.longitude,
start_latitude,
start_longitude);
height = ao_gps_data.altitude - start_altitude;
if (height < 0)
height = -height;
if (ground_distance >= ao_config.tracker_start_horiz ||
height >= ao_config.tracker_start_vert ||
ao_tracker_force_launch)
{
ao_flight_state = ao_flight_drogue;
ao_wakeup(&ao_flight_state);
ao_log_start();
ao_tracker_start_flight();
}
break;
case ao_flight_drogue:
/* Modulate data rates based on speed (in cm/s) */
if (ao_gps_data.climb_rate < 0)
speed = -ao_gps_data.climb_rate;
else
speed = ao_gps_data.climb_rate;
speed += ao_gps_data.ground_speed;
if (speed < AO_TRACKER_NOT_MOVING) {
new_telem_rate = AO_SEC_TO_TICKS(10);
new_gps_rate = 10;
} else {
new_telem_rate = AO_SEC_TO_TICKS(1);
new_gps_rate = 1;
}
break;
default:
break;
}
}
ao_mutex_put(&ao_gps_mutex);
if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
if (new_telem_enabled)
ao_telemetry_set_interval(new_telem_rate);
else
ao_telemetry_set_interval(0);
telem_rate = new_telem_rate;
telem_enabled = new_telem_enabled;
}
if (new_gps_rate != gps_rate) {
ao_gps_set_rate(new_gps_rate);
gps_rate = new_gps_rate;
}
}
}
static struct ao_task ao_tracker_task;
static void
ao_tracker_set_telem(void)
{
ao_cmd_hex();
if (ao_cmd_status == ao_cmd_success) {
ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
}
printf ("flight %d force telem %d force launch %d\n",
ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
}
static const struct ao_cmds ao_tracker_cmds[] = {
{ ao_tracker_set_telem, "t <d>\0Set telem on USB" },
{ 0, NULL },
};
void
ao_tracker_init(void)
{
#if HAS_USB_CONNECT
ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
#endif
ao_cmd_register(&ao_tracker_cmds[0]);
ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
}
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