flight_controller.h File Reference

#include "sensors_reading/mpu6050/mpu6050_c.h"
#include <inttypes.h>
#include <stdbool.h>

Include dependency graph for flight_controller.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	ACCELERATION_THRESHOLD_FOR_LIFTOFF_DETECTION   2.0
#define	WINDOW_SIZE_FOR_ALTITUDE_MEAN   10
#define	ALTITUDE_DIFFERENCE_TO_CONSIDER_APOGEE   1
#define	MAIN_CHUTE_DEPLOYMENT_HEIGHT   150.0
#define	MIN_MS_DROGUE_DEPLOYMENT   9500
#define	MAX_MS_DROGUE_DEPLOYMENT   1300
#define	MIN_MS_MAIN_DEPLOYMENT   20000
#define	MAX_MS_MAIN_DEPLOYMENT   35000
#define	MS_EXECUTING_CHUTE_CHARGES   1000
#define	ACCELERATION_THRESHOLD_FOR_TOUCHDOWN_DETECTION   2.0
#define	TAG_FLIGHT_CONTROLLER   "Flight Controller"

Functions
void	flight_controller ()
	Main FreeRTOS task function for the flight controller.
bool	detect_liftoff (mpu6050_acceleration_t rocket_acc)
	Detect if liftoff has happen. Works by detecting if the currect linear acceleration is higher than the stablish level.
float	update_rocket_altitude_mean (float rocket_altitude, float *altitude_mean_array, int *oldest_element_pointer)
	Create a mobile mean to filter rocket altitude.
bool	should_drogue_chute_be_deployed (float altitude_mean, float highest_altitude_mean_detected, uint64_t ms, uint64_t ms_liftoff)
	Check if the drogue chute should be deployed.
bool	should_main_chute_be_deployed (float mean_altitude, float launching_altitude, uint64_t ms, uint64_t ms_liftoff)
	Check if the main chute should be deployed.
bool	detect_touchdown (mpu6050_acceleration_t rocket_acc)
	Detect if the rocket has landed.

Macro Definition Documentation

ACCELERATION_THRESHOLD_FOR_LIFTOFF_DETECTION

#define ACCELERATION_THRESHOLD_FOR_LIFTOFF_DETECTION   2.0

ACCELERATION_THRESHOLD_FOR_TOUCHDOWN_DETECTION

#define ACCELERATION_THRESHOLD_FOR_TOUCHDOWN_DETECTION   2.0

ALTITUDE_DIFFERENCE_TO_CONSIDER_APOGEE

#define ALTITUDE_DIFFERENCE_TO_CONSIDER_APOGEE   1

MAIN_CHUTE_DEPLOYMENT_HEIGHT

#define MAIN_CHUTE_DEPLOYMENT_HEIGHT   150.0

MAX_MS_DROGUE_DEPLOYMENT

#define MAX_MS_DROGUE_DEPLOYMENT   1300

MAX_MS_MAIN_DEPLOYMENT

#define MAX_MS_MAIN_DEPLOYMENT   35000

MIN_MS_DROGUE_DEPLOYMENT

#define MIN_MS_DROGUE_DEPLOYMENT   9500

MIN_MS_MAIN_DEPLOYMENT

#define MIN_MS_MAIN_DEPLOYMENT   20000

MS_EXECUTING_CHUTE_CHARGES

#define MS_EXECUTING_CHUTE_CHARGES   1000

TAG_FLIGHT_CONTROLLER

#define TAG_FLIGHT_CONTROLLER   "Flight Controller"

WINDOW_SIZE_FOR_ALTITUDE_MEAN

#define WINDOW_SIZE_FOR_ALTITUDE_MEAN   10

Function Documentation

detect_liftoff()

bool detect_liftoff

(

mpu6050_acceleration_t

rocket_acc

)

Detect if liftoff has happen. Works by detecting if the currect linear acceleration is higher than the stablish level.

Parameters

rocket_acc

linear acceleration.

Returns

true if liftoff has been detected.

false if there is not enough acceleration to consider liftoff.

Here is the caller graph for this function:

detect_touchdown()

bool detect_touchdown

(

mpu6050_acceleration_t

rocket_acc

)

Detect if the rocket has landed.

Touchdown is detected when any of the axes linear acceleration data detects an acceleration grater than what is set in ACCELERATION_THRESHOLD_FOR_TOUCHDOWN_DETECTION.

Parameters

rocket_acc

linear acceleration data.

Returns

true if landing has been detected.

false if landing has not been detected.

Here is the caller graph for this function:

flight_controller()

void flight_controller

(

)

Main FreeRTOS task function for the flight controller.

Evaluates rocket status and determines when to deploy the drogue chute and the main chute based on the data available from the rocket sensors.

Here is the call graph for this function:

Here is the caller graph for this function:

should_drogue_chute_be_deployed()

bool should_drogue_chute_be_deployed	(	float	altitude_mean,
		float	highest_altitude_mean_detected,
		uint64_t	ms,
		uint64_t	ms_liftoff )

Check if the drogue chute should be deployed.

It takes into acount:

1. The flight time must be between the stablish window for drogue chute deployment. The chute will be deployed if time exceeds the maximum time set in MAX_MS_DROGUE_DEPLOYMENT.
2. The difference between the biggest recorded mean altitude value (apogee) and the current mean altitude value should be of at least what defined in ALTITUDE_DIFFERENCE_TO_CONSIDER_APOGEE.

Parameters

altitude_mean	current altitude mean value.
highest_altitude_mean_detected	biggest recorded mean value.
ms	current milliseconds.
ms_liftoff	milliseconds when liftoff happened.

Returns

true if sweet spot for drogue chute deployment has occurred now or in the past.

false if sweet spot for drogue chute deployment has not occurred yet.

Here is the caller graph for this function:

should_main_chute_be_deployed()

bool should_main_chute_be_deployed	(	float	mean_altitude,
		float	launching_altitude,
		uint64_t	ms,
		uint64_t	ms_liftoff )

Check if the main chute should be deployed.

It takes into acount:

1. The flight time must be between the stablish window for main chute deployment. The chute will be deployed if time exceeds the maximum time set in MAX_MS_MAIN_DEPLOYMENT.
2. The difference between the current mean altitude and the launching altitude value should be less than what is defined in MAIN_CHUTE_DEPLOYMENT_HEIGHT.

Parameters

mean_altitude	current altitude mean value.
launching_altitude	altitude recorded when liftoff occurred.
ms	current milliseconds.
ms_liftoff	millisecconds when liftoff occurred.

Returns

true if sweet spot for main chute deployment has occurred now or in the past.

false if sweet spot for main chute deployment has not occurred yet.

Here is the caller graph for this function:

update_rocket_altitude_mean()

float update_rocket_altitude_mean	(	float	rocket_altitude,
		float *	altitude_mean_array,
		int *	oldest_element_pointer )

Create a mobile mean to filter rocket altitude.

Parameters

rocket_altitude	calculated rocket altitude.
altitude_mean_array	pointer to where all the values for the mean mobile are being stored.
oldest_element_pointer	pointer to the oldest altitude reading.

Returns

float new mobile mean.

Here is the caller graph for this function: