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Airbrakes Improvements #387

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Airbrakes Improvements #387

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2b3bdd6
Actually benchmark the airbrake math
AarC10 Apr 9, 2026
7b975a5
Make expGyro less silly
AarC10 Apr 9, 2026
fb019cb
Do the atmosphere polynomial the normal way
AarC10 Apr 9, 2026
d8eb80e
Make the gyro tilt check actually check tilt
AarC10 Apr 9, 2026
e46f8dc
Don't divide by zero in the airbrake LUT
AarC10 Apr 9, 2026
0985932
Formatting
AarC10 Apr 13, 2026
4921129
bring back some blursed variable names for richie
AarC10 Apr 13, 2026
61013a4
Make the benchmark use n_model
AarC10 Apr 13, 2026
5cdb398
Revert "Make the benchmark use n_model"
AarC10 Apr 13, 2026
c93f071
fmt
AarC10 Apr 13, 2026
b19cdf6
Merge branch 'main' into feature/Aaron/AirbrakesOptimizations
AarC10 May 17, 2026
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8 changes: 6 additions & 2 deletions app/other/airbraker/src/lut.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,11 @@ float CalcActuatorEffort(float altitude, float velocity) {
float z_hat_min = 0;
float z_hat_max = 0;
boundsLUT(altitude, &z_hat_min, &z_hat_max);
float q = (velocity - z_hat_min) / (z_hat_max - z_hat_min);
const float span = z_hat_max - z_hat_min;
if (span <= 0.0F) {
return 0.0F;
}
float q = (velocity - z_hat_min) / span;
if (q > 1) {
return 1;
} else if (q < 0) {
Expand All @@ -77,4 +81,4 @@ float CalcActuatorEffort(float altitude, float velocity) {
return q;
}

} // namespace NModel
} // namespace NModel
25 changes: 8 additions & 17 deletions app/other/airbraker/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,11 @@
#include "n_storage.hpp"
#include "servo.hpp"

#include <cmath>
#include <zephyr/init.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/sys/atomic.h>
#include <cmath>

#include <zsl/orientation/quaternions.h>

LOG_MODULE_REGISTER(main, CONFIG_APP_AIRBRAKE_LOG_LEVEL);
Expand All @@ -34,12 +33,8 @@ uint32_t packet_timestamp() {
return 0; \
}

NTypes::GyroscopeData unbiasGyro(const NTypes::GyroscopeData &data, const NTypes::GyroscopeData &bias){
return {
.X = data.X - bias.X,
.Y = data.Y - bias.Y,
.Z = data.Z - bias.Z
};
NTypes::GyroscopeData unbiasGyro(const NTypes::GyroscopeData &data, const NTypes::GyroscopeData &bias) {
return {.X = data.X - bias.X, .Y = data.Y - bias.Y, .Z = data.Z - bias.Z};
}

int main() {
Expand Down Expand Up @@ -128,7 +123,6 @@ int main() {
float altMeters = NModel::AltitudeMetersFromPressureKPa(packet.pressureRaw) - groundLevelASLMeters;
float vertical = GetUpAxis(packet.accelRaw);


NTypes::GyroscopeData unbiasedGyro = unbiasGyro(packet.gyro, bias);
NModel::FeedGyro(packet.timestamp, unbiasedGyro);
NModel::FillPacketWithOrientationMatrix(packet.orientationMatrix);
Expand All @@ -148,8 +142,6 @@ int main() {

NStorage::WriteFlightPacket(i, &packet);



// Write preboost if needed
if (preboostWriteHead < NUM_STORED_PREBOOST_PACKETS) {
NStorage::WritePreboostPacket(preboostWriteHead, NPreBoost::GetPreBoostPacketPtr(preboostWriteHead));
Expand All @@ -161,7 +153,7 @@ int main() {
CancelFlight();

// happy beep for reco team
while(true){
while (true) {
NBuzzer::SetBuzzer(true);
k_msleep(200);
NBuzzer::SetBuzzer(false);
Expand All @@ -182,13 +174,12 @@ void CancelFlight() {
}
bool IsFlightCancelled() { return atomic_get(&flightCancelled) == 1; }


float GetUpAxis(const NTypes::AccelerometerData &xyz){
NTypes::AccelerometerData out{0,0,0};
float GetUpAxis(const NTypes::AccelerometerData &xyz) {
NTypes::AccelerometerData out{0, 0, 0};
RotateIMUVectorToRocketVector(xyz, out);
return out.Z;
}
void RotateIMUVectorToRocketVector(const NTypes::AccelerometerData &xyz, NTypes::AccelerometerData &out){
void RotateIMUVectorToRocketVector(const NTypes::AccelerometerData &xyz, NTypes::AccelerometerData &out) {
zsl_quat p{.r = 0, .i = xyz.X, .j = xyz.Y, .k = xyz.Z};

// q p q*
Expand All @@ -202,7 +193,7 @@ void RotateIMUVectorToRocketVector(const NTypes::AccelerometerData &xyz, NTypes:
out.Z = output.k;
}

void RotateRocketVectorToIMUVector(const NTypes::AccelerometerData &xyz, NTypes::AccelerometerData &out){
void RotateRocketVectorToIMUVector(const NTypes::AccelerometerData &xyz, NTypes::AccelerometerData &out) {
zsl_quat p{.r = 0, .i = xyz.X, .j = xyz.Y, .k = xyz.Z};

// q p q*
Expand Down
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