diff --git a/src/RIGv2/CanHandler/CanHandler.cpp b/src/RIGv2/CanHandler/CanHandler.cpp
index ddfefe9bd04139ed9469166153319b944644d46b..42494b83b2c866f4996629dfe1c0957cd47b9342 100644
--- a/src/RIGv2/CanHandler/CanHandler.cpp
+++ b/src/RIGv2/CanHandler/CanHandler.cpp
@@ -213,7 +213,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanOxTankPressure(data);
+ sensors->setCanOxTankTopPressure(data);
break;
}
@@ -221,7 +221,7 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
{
CanPressureData data = pressureDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanN2TankPressure(data);
+ sensors->setCanOxTankBottomPressure(data);
break;
}
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index 944fab614327106925678affebf65f305f1ca670..26bce81fea300e75fa65c225faa5ee18abdd254b 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -654,10 +654,11 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors (either CAN or local)
- tm.ox_tank_top_pressure = sensors->getN2TankPressure()
- .pressure; // TODO: rename in mavlink
- tm.ox_tank_bot_pressure = sensors->getOxTankPressure()
- .pressure; // TODO: rename in mavlink
+ tm.n2_tank_pressure = sensors->getN2TankPressure().pressure;
+ tm.ox_tank_bot_pressure =
+ sensors->getOxTankBottomPressure().pressure;
+ tm.ox_tank_top_pressure =
+ sensors->getCanOxTankTopPressure().pressure;
tm.combustion_chamber_pressure =
sensors->getCombustionChamberPressure().pressure;
tm.ox_tank_temperature =
@@ -765,7 +766,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
- strcpy(tm.sensor_name, "VesselPressure");
+ strcpy(tm.sensor_name, "OxVesselPressure");
mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID,
@@ -783,7 +784,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
- strcpy(tm.sensor_name, "FillingPressure");
+ strcpy(tm.sensor_name, "OxFillingPressure");
mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID,
@@ -797,11 +798,11 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data = getModule<Sensors>()->getOxTankPressure();
+ PressureData data = getModule<Sensors>()->getOxTankBottomPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
- strcpy(tm.sensor_name, "BottomTankPressure");
+ strcpy(tm.sensor_name, "OxTankBotPressure");
mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID,
@@ -815,11 +816,11 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
mavlink_message_t msg;
mavlink_pressure_tm_t tm;
- PressureData data = getModule<Sensors>()->getN2TankPressure();
+ PressureData data = getModule<Sensors>()->getCanOxTankTopPressure();
tm.timestamp = data.pressureTimestamp;
tm.pressure = data.pressure;
- strcpy(tm.sensor_name, "TopTankPressure");
+ strcpy(tm.sensor_name, "OxTankTopPressure");
mavlink_msg_pressure_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID,
@@ -855,7 +856,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
tm.timestamp = data.loadTimestamp;
tm.load = data.load;
- strcpy(tm.sensor_name, "VesselWeight");
+ strcpy(tm.sensor_name, "OxVesselWeight");
mavlink_msg_load_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID, &msg,
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index 614a961aa01b1b0ef8a0e8bb2fe5200cad328f14..89e22b6491d570854891dfbacd5a8ee3d65707e0 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -56,7 +56,7 @@ bool Sensors::start()
if (Config::Sensors::ADC_2::ENABLED)
{
adc2Init();
- oxTankPressureInit();
+ oxTankBottomPressureInit();
n2TankPressureInit();
}
@@ -123,16 +123,16 @@ PressureData Sensors::getN2FillingPressure()
: PressureData{};
}
-PressureData Sensors::getOxTankPressure()
+PressureData Sensors::getOxTankBottomPressure()
{
if (useCanData)
{
- return getCanOxTankPressure();
+ return getCanOxTankBottomPressure();
}
else
{
- return oxTankPressure ? oxTankPressure->getLastSample()
- : PressureData{};
+ return oxTankBottomPressure ? oxTankBottomPressure->getLastSample()
+ : PressureData{};
}
}
@@ -223,10 +223,16 @@ PressureData Sensors::getCanN2TankPressure()
return canN2TankPressure;
}
-PressureData Sensors::getCanOxTankPressure()
+PressureData Sensors::getCanOxTankBottomPressure()
+{
+ Lock<FastMutex> lock{canMutex};
+ return canOxTankBottomPressure;
+}
+
+PressureData Sensors::getCanOxTankTopPressure()
{
Lock<FastMutex> lock{canMutex};
- return canOxTankPressure;
+ return canOxTankTopPressure;
}
PressureData Sensors::getCanCombustionChamberPressure()
@@ -247,16 +253,22 @@ VoltageData Sensors::getCanMotorBatteryVoltage()
return canMotorBatteryVoltage;
}
-void Sensors::setCanOxTankPressure(PressureData data)
+void Sensors::setCanOxTankBottomPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canN2TankPressure = data;
+ canOxTankBottomPressure = data;
+}
+
+void Sensors::setCanOxTankTopPressure(PressureData data)
+{
+ Lock<FastMutex> lock{canMutex};
+ canOxTankTopPressure = data;
}
void Sensors::setCanN2TankPressure(PressureData data)
{
Lock<FastMutex> lock{canMutex};
- canOxTankPressure = data;
+ canN2TankPressure = data;
}
void Sensors::setCanCombustionChamberPressure(PressureData data)
@@ -320,7 +332,7 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
PUSH_SENSOR_INFO(n2Vessel1Pressure, "N2Vessel1Pressure");
PUSH_SENSOR_INFO(n2Vessel2Pressure, "N2Vessel2Pressure");
PUSH_SENSOR_INFO(n2FillingPressure, "N2FillingPressure");
- PUSH_SENSOR_INFO(oxTankPressure, "OxTankPressure");
+ PUSH_SENSOR_INFO(oxTankBottomPressure, "OxTankBotPressure");
PUSH_SENSOR_INFO(n2TankPressure, "N2TankPressure");
PUSH_SENSOR_INFO(oxVesselWeight, "OxVesselWeight");
PUSH_SENSOR_INFO(rocketWeight, "RocketWeight");
@@ -571,9 +583,9 @@ void Sensors::n2FillingPressureCallback()
sdLogger.log(N2FillingPressureData{getN2FillingPressure()});
}
-void Sensors::oxTankPressureInit()
+void Sensors::oxTankBottomPressureInit()
{
- oxTankPressure = std::make_unique<TrafagPressureSensor>(
+ oxTankBottomPressure = std::make_unique<TrafagPressureSensor>(
[this]()
{
auto sample = getADC2LastSample();
@@ -586,9 +598,9 @@ void Sensors::oxTankPressureInit()
Config::Sensors::Trafag::MAX_CURRENT);
}
-void Sensors::oxTankPressureCallback()
+void Sensors::oxTankBottomPressureCallback()
{
- sdLogger.log(OxTankPressureData{oxTankPressure->getLastSample()});
+ sdLogger.log(OxTankPressureData{oxTankBottomPressure->getLastSample()});
}
void Sensors::n2TankPressureInit()
@@ -739,11 +751,11 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(n2FillingPressure.get(), info));
}
- if (oxTankPressure)
+ if (oxTankBottomPressure)
{
- SensorInfo info("OxTankPressure", Config::Sensors::ADS131M08::PERIOD,
- [this]() { oxTankPressureCallback(); });
- map.emplace(std::make_pair(oxTankPressure.get(), info));
+ SensorInfo info("OxTankBotPressure", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { oxTankBottomPressureCallback(); });
+ map.emplace(std::make_pair(oxTankBottomPressure.get(), info));
}
if (n2TankPressure)
diff --git a/src/RIGv2/Sensors/Sensors.h b/src/RIGv2/Sensors/Sensors.h
index f7f9bffe5cf17952d3904eac82fda63387ce42af..1c3a2dba87df1e64dbcb8e8f37818a3ff220ec81 100644
--- a/src/RIGv2/Sensors/Sensors.h
+++ b/src/RIGv2/Sensors/Sensors.h
@@ -64,7 +64,7 @@ public:
Boardcore::PressureData getN2Vessel1Pressure();
Boardcore::PressureData getN2Vessel2Pressure();
Boardcore::PressureData getN2FillingPressure();
- Boardcore::PressureData getOxTankPressure();
+ Boardcore::PressureData getOxTankBottomPressure();
Boardcore::PressureData getN2TankPressure();
Boardcore::PressureData getCombustionChamberPressure();
@@ -78,7 +78,8 @@ public:
Boardcore::VoltageData getBatteryVoltage();
Boardcore::VoltageData getMotorBatteryVoltage();
- Boardcore::PressureData getCanOxTankPressure();
+ Boardcore::PressureData getCanOxTankBottomPressure();
+ Boardcore::PressureData getCanOxTankTopPressure();
Boardcore::PressureData getCanN2TankPressure();
Boardcore::PressureData getCanCombustionChamberPressure();
Boardcore::TemperatureData getCanTankTemperature();
@@ -86,7 +87,8 @@ public:
std::vector<Boardcore::SensorInfo> getSensorInfos();
- void setCanOxTankPressure(Boardcore::PressureData data);
+ void setCanOxTankBottomPressure(Boardcore::PressureData data);
+ void setCanOxTankTopPressure(Boardcore::PressureData data);
void setCanN2TankPressure(Boardcore::PressureData data);
void setCanCombustionChamberPressure(Boardcore::PressureData data);
void setCanOxTankTemperature(Boardcore::TemperatureData data);
@@ -109,8 +111,8 @@ private:
void n2FillingPressureInit();
void n2FillingPressureCallback();
- void oxTankPressureInit();
- void oxTankPressureCallback();
+ void oxTankBottomPressureInit();
+ void oxTankBottomPressureCallback();
void n2TankPressureInit();
void n2TankPressureCallback();
@@ -146,7 +148,8 @@ private:
std::atomic<bool> useCanData{false};
miosix::FastMutex canMutex;
- Boardcore::PressureData canOxTankPressure;
+ Boardcore::PressureData canOxTankBottomPressure;
+ Boardcore::PressureData canOxTankTopPressure;
Boardcore::PressureData canN2TankPressure;
Boardcore::PressureData canCombustionChamberPressure;
// TODO: N2 tank pressure from CAN
@@ -159,7 +162,7 @@ private:
std::unique_ptr<Boardcore::TrafagPressureSensor> n2Vessel1Pressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2Vessel2Pressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2FillingPressure;
- std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankPressure;
+ std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankBottomPressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2TankPressure;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxVesselWeight;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> rocketWeight;
diff --git a/src/RIGv2/StateMachines/TARS1/TARS1.cpp b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
index bc092337b3a836d34410b1d4ad4a79270aedb01e..2d1e27c004ddcf5845b3cba132cb95c99ae3f576 100644
--- a/src/RIGv2/StateMachines/TARS1/TARS1.cpp
+++ b/src/RIGv2/StateMachines/TARS1/TARS1.cpp
@@ -257,7 +257,7 @@ void TARS1::sample()
{
Sensors* sensors = getModule<Sensors>();
- pressureFilter.add(sensors->getOxTankPressure().pressure);
+ pressureFilter.add(sensors->getOxTankBottomPressure().pressure);
massFilter.add(sensors->getOxTankWeight().load);
medianSamples++;