From 055ab90f0731a2fb0ef4514777fa3600adc2d7f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 16 Apr 2025 16:54:56 +0200
Subject: [PATCH] [RIGv2] Close nitrogen valve after firing to stop
pressurizing the OX
---
src/RIGv2/Actuators/Actuators.cpp | 2 +-
.../GroundModeManager/GroundModeManager.cpp | 23 +++++++++++--------
src/common/Events.h | 11 +++++++++
3 files changed, 26 insertions(+), 10 deletions(-)
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index 6138b6901..9593345c8 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -420,7 +420,7 @@ void Actuators::updatePositionsTask()
long long currentTime = getTime();
// Iterate over all servos
- for (uint8_t idx = 0; idx < 10; idx++)
+ for (uint8_t idx = 0; idx < infos.size(); idx++)
{
if (currentTime < infos[idx].closeTs)
{
diff --git a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
index 31bdd3790..48eb6e201 100644
--- a/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ b/src/RIGv2/StateMachines/GroundModeManager/GroundModeManager.cpp
@@ -322,6 +322,7 @@ State GroundModeManager::state_firing(const Event& event)
}
case TMTC_OPEN_NITROGEN:
+ case MOTOR_OPEN_CHAMBER:
{
// Open nitrogen
uint32_t chamberTime = getModule<Registry>()->getOrSetDefaultUnsafe(
@@ -330,7 +331,15 @@ State GroundModeManager::state_firing(const Event& event)
getModule<Actuators>()->openChamberWithTime(chamberTime);
- return transition(&GroundModeManager::state_disarmed);
+ if (event == TMTC_OPEN_NITROGEN)
+ {
+ // Nitrogen TMTC causes automatic disarm
+ return transition(&GroundModeManager::state_disarmed);
+ }
+ else
+ {
+ return HANDLED;
+ }
}
case MOTOR_COOLING_TIMEOUT: // Normal firing end
@@ -433,15 +442,8 @@ State GroundModeManager::state_oxidizer(const Event& event)
return HANDLED;
}
- case MOTOR_OPEN_CHAMBER:
+ case MOTOR_MAIN_CLOSE:
{
- uint32_t chamberTime = getModule<Registry>()->getOrSetDefaultUnsafe(
- CONFIG_ID_CHAMBER_TIME,
- Config::GroundModeManager::DEFAULT_CHAMBER_VALVE_TIME);
-
- // Open the chamber valve
- getModule<Actuators>()->openChamberWithTime(chamberTime);
-
return transition(&GroundModeManager::state_cooling);
}
@@ -460,6 +462,9 @@ State GroundModeManager::state_cooling(const Event& event)
{
updateAndLogStatus(GroundModeManagerState::COOLING);
+ // Stop pressurizing the OX after the firing is over
+ getModule<Actuators>()->closeServo(ServosList::NITROGEN_VALVE);
+
return HANDLED;
}
diff --git a/src/common/Events.h b/src/common/Events.h
index 6a93c35fd..5e02ec862 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -294,16 +294,27 @@ inline std::string getEventString(uint8_t event)
{MOTOR_START_TARS, "MOTOR_START_TARS"},
{MOTOR_STOP_TARS, "MOTOR_STOP_TARS"},
{MOTOR_OX_FIL_OPEN, "MOTOR_OX_FIL_OPEN"},
+ {MOTOR_OX_FIL_CLOSE, "MOTOR_OX_FIL_CLOSE"},
{MOTOR_OX_REL_OPEN, "MOTOR_OX_REL_OPEN"},
+ {MOTOR_OX_REL_CLOSE, "MOTOR_OX_REL_CLOSE"},
{MOTOR_OX_DET_OPEN, "MOTOR_OX_DET_OPEN"},
+ {MOTOR_OX_DET_CLOSE, "MOTOR_OX_DET_CLOSE"},
{MOTOR_N2_3W_OPEN, "MOTOR_N2_3W_OPEN"},
+ {MOTOR_N2_3W_CLOSE, "MOTOR_N2_3W_CLOSE"},
{MOTOR_N2_FIL_OPEN, "MOTOR_N2_FIL_OPEN"},
+ {MOTOR_N2_FIL_CLOSE, "MOTOR_N2_FIL_CLOSE"},
{MOTOR_N2_REL_OPEN, "MOTOR_N2_REL_OPEN"},
+ {MOTOR_N2_REL_CLOSE, "MOTOR_N2_REL_CLOSE"},
{MOTOR_N2_DET_OPEN, "MOTOR_N2_DET_OPEN"},
+ {MOTOR_N2_DET_CLOSE, "MOTOR_N2_DET_CLOSE"},
{MOTOR_NITR_OPEN, "MOTOR_NITR_OPEN"},
+ {MOTOR_NITR_CLOSE, "MOTOR_NITR_CLOSE"},
{MOTOR_OX_VEN_OPEN, "MOTOR_OX_VEN_OPEN"},
+ {MOTOR_OX_VEN_CLOSE, "MOTOR_OX_VEN_CLOSE"},
{MOTOR_N2_QUE_OPEN, "MOTOR_N2_QUE_OPEN"},
+ {MOTOR_N2_QUE_CLOSE, "MOTOR_N2_QUE_CLOSE"},
{MOTOR_MAIN_OPEN, "MOTOR_MAIN_OPEN"},
+ {MOTOR_MAIN_CLOSE, "MOTOR_MAIN_CLOSE"},
{MOTOR_IGNITION, "MOTOR_IGNITION"},
{MOTOR_MANUAL_ACTION, "MOTOR_MANUAL_ACTION"},
{MOTOR_OPEN_OXIDANT, "MOTOR_OPEN_OXIDANT"},
--
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