void
ao_flight(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:
/* 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
*/
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
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
*/
ao_flight_state = ao_flight_invalid;
/* Turn on packet system in invalid mode on TeleMetrum */
ao_packet_slave_start();
} else
#endif
if (!ao_flight_force_idle
#if HAS_ACCEL
&& ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
#endif
)
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
#if HAS_USB
/* Disable the USB controller in flight mode
* to save power
*/
ao_usb_disable();
#endif
#if !HAS_ACCEL
/* Disable packet mode in pad state on TeleMini */
ao_packet_slave_stop();
#endif
/* 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);
} else {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
#if HAS_ACCEL
/* Turn on packet system in idle mode on TeleMetrum */
ao_packet_slave_start();
#endif
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
}
/* wakeup threads due to state change */
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
case ao_flight_pad:
/* pad to boost:
*
* 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. If the device
* doesn't have an accelerometer, then ignore the
* speed and acceleration as they are quite noisy
* on the pad.
*/
if (ao_height > AO_M_TO_HEIGHT(20)
#if HAS_ACCEL
|| (ao_accel > AO_MSS_TO_ACCEL(20) &&
ao_speed > AO_MS_TO_SPEED(5))
#endif
)
{
ao_flight_state = ao_flight_boost;
ao_launch_tick = ao_sample_tick;
/* start logging data */
ao_log_start();
/* Increase telemetry rate */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
/* disable RDF beacon */
ao_rdf_set(0);
#if HAS_GPS
/* Record current GPS position by waking up GPS log tasks */
ao_wakeup(&ao_gps_data);
ao_wakeup(&ao_gps_tracking_data);
#endif
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_boost:
/* boost to fast:
*
* accelerometer: start to fall at > 1/4 G
* OR
* time: boost for more than 15 seconds
*
* Detects motor burn out by the switch from acceleration to
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
(int16_t) (ao_sample_tick - ao_launch_tick) > BOOST_TICKS_MAX)
{
#if HAS_ACCEL
ao_flight_state = ao_flight_fast;
#else
ao_flight_state = ao_flight_coast;
#endif
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
#if HAS_ACCEL
case ao_flight_fast:
/*
* This is essentially the same as coast,
* but the barometer is being ignored as
* it may be unreliable.
*/
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;
#endif
case ao_flight_coast:
if ((int16_t) (ao_sample_tick - ao_launch_tick) > DESIRED_AUX_TIME)
{
ao_ignite(ao_igniter_main);
}
/* apogee detect: coast to drogue deploy:
*
* speed: < 0
*
* Also make sure the model altitude is tracking
* the measured altitude reasonably closely; otherwise
* we're probably transsonic.
*/
if (ao_speed < 0
#if !HAS_ACCEL
&& (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
#endif
)
{
/* ignite the drogue charge */
/*ao_ignite(ao_igniter_drogue); */
/* slow down the telemetry system */
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
/* Turn the RDF beacon back on */
ao_rdf_set(1);
/* and enter drogue state */
ao_flight_state = ao_flight_drogue;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_drogue:
/* drogue to main deploy:
*
* barometer: reach main deploy altitude
*
* Would like to use the accelerometer for this test, but
* the orientation of the flight computer is unknown after
* drogue deploy, so we ignore it. Could also detect
* high descent rate using the pressure sensor to
* recognize drogue deploy failure and eject the main
* at that point. Perhaps also use the drogue sense lines
* to notice continutity?
*/
if (ao_height <= ao_config.main_deploy)
{
/*ao_ignite(ao_igniter_main);*/
/*
* Start recording min/max height
* to figure out when the rocket has landed
*/
/* initialize interval values */
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_flight_state = ao_flight_main;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
/* fall through... */
case ao_flight_main:
/* main to land:
*
* barometer: altitude stable
*/
if (ao_avg_height < ao_interval_min_height)
ao_interval_min_height = ao_avg_height;
if (ao_avg_height > ao_interval_max_height)
ao_interval_max_height = ao_avg_height;
if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
{
ao_flight_state = ao_flight_landed;
/* turn off the ADC capture */
ao_timer_set_adc_interval(0);
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
ao_interval_min_height = ao_interval_max_height = ao_avg_height;
ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
}
break;
case ao_flight_landed:
break;
}
}
}
static void
ao_fake_flight(void)
{
int16_t calib_size, data_size;
struct ao_fake_calib save_calib;
uint16_t my_pyro_fired = 0;
enum ao_flight_state my_state = ao_flight_invalid;
int i;
ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
calib_size = ao_cmd_lex_i;
ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
data_size = ao_cmd_lex_i;
if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) {
printf ("calib size %d larger than actual size %d\n",
calib_size, sizeof (struct ao_fake_calib));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
if (data_size != sizeof (struct ao_data)) {
printf ("data size %d doesn't match actual size %d\n",
data_size, sizeof (struct ao_data));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_fake_calib_get(&save_calib);
if (!ao_fake_calib_read())
return;
ao_fake_has_next = 0;
ao_fake_has_cur = 0;
ao_fake_flight_active = 1;
ao_sample_init();
#if PACKET_HAS_SLAVE
ao_packet_slave_stop();
#endif
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_flight_state = ao_flight_startup;
for (;;) {
if (my_state != ao_flight_state) {
printf("state %d\n", ao_flight_state);
my_state = ao_flight_state;
flush();
}
if (my_pyro_fired != ao_pyro_fired) {
int pyro;
for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) {
uint16_t bit = (1 << pyro);
if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit))
printf ("fire %d\n", pyro);
}
my_pyro_fired = ao_pyro_fired;
}
while (ao_fake_has_next)
ao_sleep((void *) &ao_fake_has_next);
if (!ao_fake_data_read())
break;
}
/* Wait 20 seconds to see if we enter landed state */
for (i = 0; i < 200; i++)
{
if (ao_flight_state == ao_flight_landed)
break;
ao_delay(AO_MS_TO_TICKS(100));
}
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_fake_flight_active = 0;
ao_flight_state = ao_flight_startup;
ao_sample_init();
ao_fake_calib_set(&save_calib);
}