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Update Mac_Rocket_Master_Code_2.0.ino #6

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Update Mac_Rocket_Master_Code_2.0.ino #6

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68 changes: 29 additions & 39 deletions Mac_Rocket_Master_Code_2.0/Mac_Rocket_Master_Code_2.0.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -19,13 +19,21 @@
//Definitions
#define seaLevel 1013.25 //hPa
#define omega 0.4
#define groundLvl = 90; //McMaster height above sea level (m)
#define minVelForLaunch = 20; //occurs 0.5s after velocity (m/s)
#define minTimeToApogee = 29; //apogee predicted at 31s (2s safety) (s)
#define minDrogueAltitude = 5000; //no cap on drogue?
#define minTimeApogeeToDrogue = 2; //predicted to occur at 34s
#define maxAltToDeployMain = 450; //IREC rule
#define minTimeApogeeToMain = 10; //would reach descent vel -26m/s by this point from drogue
#define groundLvl = 90 //McMaster height above sea level (m)
#define minVelForLaunch 20 //occurs 0.5s after launch (m/s)
#define minTimeToApogee 29 //apogee predicted at 31s (2s safety) (s)
#define minDrogueAltitude 5000 //no cap on drogue?
#define minTimeApogeeToDrogue 2 //predicted to occur at 34s
#define maxAltToDeployMain 450 //IREC rule
#define minTimeApogeeToMain 10 //would reach descent vel -26m/s by this point from drogue

//Global Variable Declarations
float launchTime = 0;
float apogeeTime = 0;
float previousAltitude = 0;
float previousVelocity = 0;
float previousTime = 0;
float altitudeProcessed;

//Start of Initialize Sensor Objects =====================================================================
Adafruit_BMP085_Unified bmp;
Expand Down Expand Up @@ -99,15 +107,12 @@ void processRocketState(){
}
//End of Rocket State Machine functions --------------------

//Global Variable Declarations
float launchTime = 0;
float apogeeTime = 0;

//Start of Rocket State-Specific functions --------------------

void rocketInit(){
SDcheck = initializeSD();
BMPcheck = initialzizeBMP();
bool SDcheck = initializeSD();
bool BMPcheck = initializeBMP();

led.setStatusGPS(true);

Expand All @@ -117,8 +122,6 @@ void rocketInit(){
}

void rocketPreflight(){
//Next state variables
float groundLvl = 100; //Sea level in meters

//Read data from BMP
float pressure = 0;
Expand All @@ -128,7 +131,7 @@ void rocketPreflight(){
readBMP(&pressure, &altitude, &temp, &time);

//Process and store data
altitudeProcessed = dataAnalytics(altitude);
altitudeProcessed = dataAnalytics(altitude,time);
previousAltitude = altitudeProcessed;
sd.writeBuffer("Time: " + String(time, 4) + "s\n");
sd.writeBuffer("Pressure: " + String(pressure, 4) + "hPa\n");
Expand All @@ -137,12 +140,10 @@ void rocketPreflight(){
sd.writeBuffer("Temperature: " + String(temp, 4) + "C\n");

led.setStatusBMP(altitude); //*********JAROD NEEDS TO LOOK*********
nextRocketState(altitude > groundLvl && previousVelocity >> minVelForLaunch); //prevVel = 30 @ 0.50s after launch
nextRocketState(altitude > groundLvl && previousVelocity > minVelForLaunch); //prevVel = 30 @ 0.50s after launch
}

void rocketFlight(){
//Next state variables
float minTimeToApogee = 100; //needs to be confirmed with structural

//Read data from BMP
float pressure = 0;
Expand All @@ -152,7 +153,7 @@ void rocketFlight(){
readBMP(&pressure, &altitude, &temp, &time);

//Process and store data
altitudeProcessed = dataAnalytics(altitude);
altitudeProcessed = dataAnalytics(altitude,time);
previousAltitude = altitudeProcessed;
sd.writeBuffer("Time: " + String(time, 4) + "s\n");
sd.writeBuffer("Pressure: " + String(pressure, 4) + "hPa\n");
Expand All @@ -164,9 +165,6 @@ void rocketFlight(){
}

void rocketDrogueShoot(){
//Next state variables
float minDrogueAltitude = 9500; //needs to be confirmed with structural
float minTimeApogeeToDrogue = 5; //needs to be confirmed with structural

//Read data from BMP
float pressure = 0;
Expand All @@ -176,7 +174,7 @@ void rocketDrogueShoot(){
readBMP(&pressure, &altitude, &temp, &time);

//Process and store data
altitudeProcessed = dataAnalytics(altitude);
altitudeProcessed = dataAnalytics(altitude,time);
previousAltitude = altitudeProcessed;
sd.writeBuffer("Time: " + String(time, 4) + "s\n");
sd.writeBuffer("Pressure: " + String(pressure, 4) + "hPa\n");
Expand All @@ -188,9 +186,6 @@ void rocketDrogueShoot(){
}

void rocketMainShoot(){
//Next state variables
float minAltToDeployMain = 2500; //needs to be confirmed with structural
float minTimeDrogueToMain = 5; //needs to be confirmed with structural

//Read data from BMP
float pressure = 0;
Expand All @@ -200,15 +195,15 @@ void rocketMainShoot(){
readBMP(&pressure, &altitude, &temp, &time);

//Process and store data
altitudeProcessed = dataAnalytics(altitude);
altitudeProcessed = dataAnalytics(altitude,time);
previousAltitude = altitudeProcessed;
sd.writeBuffer("Time: " + String(time, 4) + "s\n");
sd.writeBuffer("Pressure: " + String(pressure, 4) + "hPa\n");
sd.writeBuffer("Altitude: " + String(altitude, 4) + "m\n");
sd.writeBuffer("Processed Altitude: " + String(altitudeProcessed, 4) + "m\n");
sd.writeBuffer("Temperature: " + String(temp, 4) + "C\n");

nextRocketState(altitude < minAltToDeployMain && (time-apogeeTime) > minTimeApogeeToMain);
nextRocketState(altitude < maxAltToDeployMain && (time-apogeeTime) > minTimeApogeeToMain);
}

void rocketLanded(){
Expand All @@ -220,7 +215,7 @@ void rocketLanded(){
readBMP(&pressure, &altitude, &temp, &time);

//Process and store data
altitudeProcessed = dataAnalytics(altitude);
altitudeProcessed = dataAnalytics(altitude,time);
previousAltitude = altitudeProcessed;
sd.writeBuffer("Time: " + String(time, 4) + "s\n");
sd.writeBuffer("Pressure: " + String(pressure, 4) + "hPa\n");
Expand Down Expand Up @@ -248,7 +243,7 @@ bool initializeSD() {
//create a file and open
//prep the SD card so that we do not have to continously open and close files
//this should only run once
logger = MacRocketry_SD_Logger();
MacRocketry_SD_Logger logger;
if(logger.connectFile == NULL)
{
Serial.println("Failed to open log file!");
Expand All @@ -264,21 +259,16 @@ void readBMP(float *pressure, float *altitude, float *temp, float *time)
bmp.getTemperature(temp);
bmp.getPressure(pressure);
*time = millis();
*altitude = bmp.pressureToAltitude(seaLevel, pressure/100);
*altitude = bmp.pressureToAltitude((float)seaLevel, *pressure/100);
}

//Do we have a better way to store these rather than making them global? (used for dataAnalytics)
float previousAltitude = 0;
float previousVelocity = 0;
float previousTime = 0;

float dataAnalytics(float altitude, float time) {
deltaTime = time - previousTime;
prediction = previousAltitude + deltaTime*previousVelocity;
float deltaTime = (float)(time - previousTime);
float prediction = previousAltitude + deltaTime*previousVelocity;

previousVelocity = (altitude - previousAltitude) / deltaTime;

altitudeProcessed = ((1 - omega) * altitude) + (omega * prediction);
float altitudeProcessed = ((1 - omega) * altitude) + (omega * prediction);
return altitudeProcessed;
}

Expand Down