diff --git a/src/Parafoil/Actuators/Actuators.cpp b/src/Parafoil/Actuators/Actuators.cpp
index 06dd1c262caf69a51ccadfd9589cca8b8c51f29e..a75f7d8041cd0c89ee24c5bf0f46bc67f7ccdd24 100644
--- a/src/Parafoil/Actuators/Actuators.cpp
+++ b/src/Parafoil/Actuators/Actuators.cpp
@@ -39,14 +39,14 @@ Actuators::Actuators()
{
leftServo.servo = std::make_unique<Servo>(
config::LeftServo::TIMER, config::LeftServo::PWM_CH,
- config::LeftServo::MIN_PULSE.value<Microsecond>(),
- config::LeftServo::MAX_PULSE.value<Microsecond>());
+ Microsecond{config::LeftServo::MIN_PULSE}.value(),
+ Microsecond{config::LeftServo::MAX_PULSE}.value());
leftServo.fullRangeAngle = config::LeftServo::ROTATION;
rightServo.servo = std::make_unique<Servo>(
config::RightServo::TIMER, config::RightServo::PWM_CH,
- config::RightServo::MIN_PULSE.value<Microsecond>(),
- config::RightServo::MAX_PULSE.value<Microsecond>());
+ Microsecond{config::RightServo::MIN_PULSE}.value(),
+ Microsecond{config::RightServo::MAX_PULSE}.value());
rightServo.fullRangeAngle = config::RightServo::ROTATION;
}
@@ -85,8 +85,8 @@ bool Actuators::setServoAngle(ServosList servoId, Degree angle)
miosix::Lock<miosix::FastMutex> lock(actuator->mutex);
- actuator->servo->setPosition(angle.value<Degree>() /
- actuator->fullRangeAngle.value<Degree>());
+ actuator->servo->setPosition(angle.value() /
+ actuator->fullRangeAngle.value());
return true;
}
diff --git a/src/Parafoil/AltitudeTrigger/AltitudeTrigger.cpp b/src/Parafoil/AltitudeTrigger/AltitudeTrigger.cpp
index bce21a162d73a050d6d0f0ea36aab70eb41891a2..c029ea89be576748073192edd7ae04bdd71834e3 100644
--- a/src/Parafoil/AltitudeTrigger/AltitudeTrigger.cpp
+++ b/src/Parafoil/AltitudeTrigger/AltitudeTrigger.cpp
@@ -67,7 +67,7 @@ bool AltitudeTrigger::isEnabled() { return running; }
void AltitudeTrigger::setDeploymentAltitude(Meter altitude)
{
- targetAltitude = altitude.value<Meter>();
+ targetAltitude = altitude.value();
}
void AltitudeTrigger::update()
diff --git a/src/Parafoil/AltitudeTrigger/AltitudeTrigger.h b/src/Parafoil/AltitudeTrigger/AltitudeTrigger.h
index 816989fe5621ea72e9031731a56669351e8e7ba1..7531f60a6e4e993210589a8c33787e0914fd1e67 100644
--- a/src/Parafoil/AltitudeTrigger/AltitudeTrigger.h
+++ b/src/Parafoil/AltitudeTrigger/AltitudeTrigger.h
@@ -79,9 +79,9 @@ private:
// altitude
int confidence = 0;
- std::atomic<float> targetAltitude{
- Config::AltitudeTrigger::DEPLOYMENT_ALTITUDE
- .value<Boardcore::Units::Length::Meter>()};
+ std::atomic<float> targetAltitude{Boardcore::Units::Length::Meter{
+ Config::AltitudeTrigger::DEPLOYMENT_ALTITUDE}
+ .value()};
};
} // namespace Parafoil
diff --git a/src/Parafoil/Configs/NASConfig.h b/src/Parafoil/Configs/NASConfig.h
index 1c4e4728ba4441d3afd09c56ac7468fe9148bf2f..6a9e041dcbbd471d71a8659ae36e9029b6a59d8f 100644
--- a/src/Parafoil/Configs/NASConfig.h
+++ b/src/Parafoil/Configs/NASConfig.h
@@ -46,7 +46,7 @@ constexpr int CALIBRATION_SAMPLES_COUNT = 20;
constexpr auto CALIBRATION_SLEEP_TIME = 100_ms;
static const Boardcore::NASConfig CONFIG = {
- .T = UPDATE_RATE_SECONDS.value<Second>(),
+ .T = UPDATE_RATE_SECONDS.value(),
.SIGMA_BETA = 0.0001,
.SIGMA_W = 0.0019,
.SIGMA_ACC = 0.202,
diff --git a/src/Parafoil/Radio/MessageHandler.cpp b/src/Parafoil/Radio/MessageHandler.cpp
index 3c0a4c51ea6f43f84db15a1cc1bae0b1eadf6a61..b4cc140398110d0ad348edc57ecaa2a29dce1810 100644
--- a/src/Parafoil/Radio/MessageHandler.cpp
+++ b/src/Parafoil/Radio/MessageHandler.cpp
@@ -537,13 +537,13 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
// Servos
tm.left_servo_angle =
- parent.getModule<Actuators>()
- ->getServoAngle(ServosList::PARAFOIL_LEFT_SERVO)
- .value<Degree>();
+ Degree{parent.getModule<Actuators>()->getServoAngle(
+ ServosList::PARAFOIL_LEFT_SERVO)}
+ .value();
tm.right_servo_angle =
- parent.getModule<Actuators>()
- ->getServoAngle(ServosList::PARAFOIL_RIGHT_SERVO)
- .value<Degree>();
+ Degree{parent.getModule<Actuators>()->getServoAngle(
+ ServosList::PARAFOIL_RIGHT_SERVO)}
+ .value();
// Algorithms
tm.nas_n = nasState.n;
@@ -563,8 +563,8 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
// Wind estimation
auto wind = parent.getModule<WindEstimation>()->getPrediction();
- tm.wes_n = wind.vn.value<MeterPerSecond>();
- tm.wes_e = wind.ve.value<MeterPerSecond>();
+ tm.wes_n = MeterPerSecond{wind.vn}.value();
+ tm.wes_e = MeterPerSecond{wind.ve}.value();
tm.battery_voltage = sensors->getBatteryVoltage().batVoltage;
// No integrated camera
@@ -610,12 +610,12 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
tm.liftoff_ts = stats.dropTs;
tm.liftoff_max_acc_ts = stats.dropMaxAccTs;
tm.liftoff_max_acc =
- stats.dropMaxAcc.value<MeterPerSecondSquared>();
+ MeterPerSecondSquared{stats.dropMaxAcc}.value();
// Max speed stats
tm.max_speed_ts = stats.maxSpeedTs;
- tm.max_speed = stats.maxSpeed.value<MeterPerSecond>();
- tm.max_speed_altitude = stats.maxSpeedAlt.value<Meter>();
+ tm.max_speed = MeterPerSecond{stats.maxSpeed}.value();
+ tm.max_speed_altitude = Meter{stats.maxSpeedAlt}.value();
// Useless for parafoil
tm.max_mach_ts = 0;
@@ -639,8 +639,8 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
// Deployment stats
tm.dpl_ts = stats.dplTs;
tm.dpl_max_acc_ts = stats.dplMaxAccTs;
- tm.dpl_alt = stats.dplAlt.value<Meter>();
- tm.dpl_max_acc = stats.dplMaxAcc.value<MeterPerSecondSquared>();
+ tm.dpl_alt = Meter{stats.dplAlt}.value();
+ tm.dpl_max_acc = MeterPerSecondSquared{stats.dplMaxAcc}.value();
// NAS reference values
tm.ref_lat = ref.refLatitude;
diff --git a/src/Parafoil/Radio/Radio.cpp b/src/Parafoil/Radio/Radio.cpp
index c49ae1f02308104e294291412b0fb524e0137d74..bd2973380ea3bc5dcdeefcc291830192bab19a7d 100644
--- a/src/Parafoil/Radio/Radio.cpp
+++ b/src/Parafoil/Radio/Radio.cpp
@@ -72,7 +72,7 @@ bool Radio::start()
{ handleXbeeFrame(frame); });
Xbee::setDataRate(*transceiver, Config::Radio::Xbee::ENABLE_80KPS_DATA_RATE,
- Config::Radio::Xbee::TIMEOUT.value<Millisecond>());
+ Millisecond{Config::Radio::Xbee::TIMEOUT}.value());
// Set the static instance for handling radio interrupts
staticTransceiver = transceiver.get();
@@ -81,8 +81,8 @@ bool Radio::start()
radioMavlink.driver = std::make_unique<MavDriver>(
transceiver.get(), [this](MavDriver*, const mavlink_message_t& msg)
{ handleRadioMessage(msg); },
- config::MavlinkDriver::SLEEP_AFTER_SEND.value<Millisecond>(),
- config::MavlinkDriver::MAX_PKT_AGE.value<Millisecond>());
+ Millisecond{config::MavlinkDriver::SLEEP_AFTER_SEND}.value(),
+ Millisecond{config::MavlinkDriver::MAX_PKT_AGE}.value());
if (!radioMavlink.driver->start())
{
diff --git a/src/Parafoil/Sensors/Sensors.cpp b/src/Parafoil/Sensors/Sensors.cpp
index 8866054608aaf179975bd8f02aac3acf154330d5..5d5148c72d415584a495a49465db793112e980bf 100644
--- a/src/Parafoil/Sensors/Sensors.cpp
+++ b/src/Parafoil/Sensors/Sensors.cpp
@@ -345,7 +345,7 @@ void Sensors::ubxGpsInit()
ubxgps = std::make_unique<UBXGPSSpi>(
getModule<Buses>()->spi1, hwmap::ubxgps::cs::getPin(), spiConfig,
- config::UBXGPS::SAMPLING_RATE.value<Kilohertz>());
+ Kilohertz{config::UBXGPS::SAMPLING_RATE}.value());
LOG_INFO(logger, "UBXGPS initialized!");
}
diff --git a/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
index 5415f579975d4406124b0e731c39a216420f2b33..562f73a0f1fffee3b2ade80f0191723c08419a1e 100644
--- a/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/Parafoil/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -449,7 +449,7 @@ State FlightModeManager::FlyingWingDescent(const Event& event)
// Send the event to the WingController
controlDelayId = EventBroker::getInstance().postDelayed(
FLIGHT_WING_DESCENT, TOPIC_FLIGHT,
- config::CONTROL_DELAY.value<Millisecond>());
+ Millisecond{config::CONTROL_DELAY}.value());
getModule<FlightStatsRecorder>()->dropDetected(
TimestampTimer::getTimestamp());
@@ -497,7 +497,7 @@ State FlightModeManager::Landed(const Event& event)
TOPIC_FLIGHT);
EventBroker::getInstance().postDelayed(
FMM_STOP_LOGGING, TOPIC_FMM,
- config::LOGGING_DELAY.value<Millisecond>());
+ Millisecond{config::LOGGING_DELAY}.value());
return HANDLED;
}
diff --git a/src/Parafoil/StateMachines/NASController/NASController.cpp b/src/Parafoil/StateMachines/NASController/NASController.cpp
index b71d3a8cfe4e14fa4cdbd7b1f3c336d183882c56..9ce2f16fa956520da3c59221695aaffdbded9232 100644
--- a/src/Parafoil/StateMachines/NASController/NASController.cpp
+++ b/src/Parafoil/StateMachines/NASController/NASController.cpp
@@ -224,7 +224,7 @@ void NASController::calibrate()
baroSum += baro.pressure;
- Thread::sleep(config::CALIBRATION_SLEEP_TIME.value<Millisecond>());
+ Thread::sleep(Millisecond{config::CALIBRATION_SLEEP_TIME}.value());
}
Vector3f meanAcc = accSum / config::CALIBRATION_SAMPLES_COUNT;
@@ -344,7 +344,7 @@ void NASController::setReferenceAltitude(Meter altitude)
miosix::Lock<miosix::FastMutex> l(nasMutex);
auto ref = nas.getReferenceValues();
- ref.refAltitude = altitude.value<Meter>();
+ ref.refAltitude = altitude.value();
nas.setReferenceValues(ref);
}
diff --git a/src/Parafoil/StateMachines/WingController/WingController.cpp b/src/Parafoil/StateMachines/WingController/WingController.cpp
index 3536fa810ea760c8d07997135ac2f462e23f3ebb..3d47f9f0688a170e57262f85c5edb0be4a63774b 100644
--- a/src/Parafoil/StateMachines/WingController/WingController.cpp
+++ b/src/Parafoil/StateMachines/WingController/WingController.cpp
@@ -176,7 +176,7 @@ State WingController::FlyingDeployment(const Boardcore::Event& event)
calibrationTimeoutEventId =
EventBroker::getInstance().postDelayed(
DPL_WES_CAL_DONE, TOPIC_DPL,
- WES::CALIBRATION_TIMEOUT.value<Millisecond>());
+ Millisecond{WES::CALIBRATION_TIMEOUT}.value());
getModule<WindEstimation>()->startAlgorithm();
getModule<Actuators>()->startTwirl();
@@ -431,12 +431,12 @@ void WingController::loadAlgorithms()
step.servo2Angle = 120_deg;
algorithm->addStep(step);
- step.timestamp += STRAIGHT_FLIGHT_TIMEOUT.value<Microsecond>();
+ step.timestamp += Microsecond{STRAIGHT_FLIGHT_TIMEOUT}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
- step.timestamp += STRAIGHT_FLIGHT_TIMEOUT.value<Microsecond>();
+ step.timestamp += Microsecond{STRAIGHT_FLIGHT_TIMEOUT}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
@@ -456,32 +456,32 @@ void WingController::loadAlgorithms()
step.servo2Angle = 0_deg;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = RightServo::ROTATION / 2;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = LeftServo::ROTATION;
step.servo2Angle = RightServo::ROTATION;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = RightServo::ROTATION / 2;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
- step.timestamp += WES::ROTATION_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{WES::ROTATION_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
@@ -496,19 +496,19 @@ void WingController::loadAlgorithms()
PARAFOIL_RIGHT_SERVO);
WingAlgorithmData step;
- step.timestamp = PROGRESSIVE_ROTATION_TIMEOUT.value<Microsecond>();
+ step.timestamp = Microsecond{PROGRESSIVE_ROTATION_TIMEOUT}.value();
for (auto angle = 150_deg; angle >= 0_deg; angle -= WING_DECREMENT)
{
step.servo1Angle = angle;
step.servo2Angle = 0_deg;
algorithm->addStep(step);
- step.timestamp += COMMAND_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{COMMAND_PERIOD}.value();
step.servo1Angle = 0_deg;
step.servo2Angle = angle;
algorithm->addStep(step);
- step.timestamp += COMMAND_PERIOD.value<Microsecond>();
+ step.timestamp += Microsecond{COMMAND_PERIOD}.value();
}
algorithms[static_cast<size_t>(AlgorithmId::PROGRESSIVE_ROTATION)] =
diff --git a/src/Parafoil/WindEstimation/WindEstimation.cpp b/src/Parafoil/WindEstimation/WindEstimation.cpp
index be909e97baac5bd7e5785755485319683c5a3fde..c1b1e1c78e292c467fb02b5e46664d74e5303b73 100644
--- a/src/Parafoil/WindEstimation/WindEstimation.cpp
+++ b/src/Parafoil/WindEstimation/WindEstimation.cpp
@@ -133,9 +133,9 @@ void WindEstimation::updateCalibration()
MeterPerSecond{gps.velocityEast}};
calibrationMatrix(nSampleCalibration, 0) =
- gpsVelocity.vn.value<MeterPerSecond>();
+ MeterPerSecond{gpsVelocity.vn}.value();
calibrationMatrix(nSampleCalibration, 1) =
- gpsVelocity.ve.value<MeterPerSecond>();
+ MeterPerSecond{gpsVelocity.ve}.value();
calibrationV2(nSampleCalibration) = gpsVelocity.normSquared();
velocity.vn += gpsVelocity.vn;
@@ -155,10 +155,10 @@ void WindEstimation::updateCalibration()
{
calibrationMatrix(i, 0) =
calibrationMatrix(i, 0) -
- velocity.vn.value<MeterPerSecond>();
+ MeterPerSecond{velocity.vn}.value();
calibrationMatrix(i, 1) =
calibrationMatrix(i, 1) -
- velocity.ve.value<MeterPerSecond>();
+ MeterPerSecond{velocity.ve}.value();
calibrationV2(i) = 0.5f * (calibrationV2(i) - speedSquared);
}
@@ -232,10 +232,10 @@ void WindEstimation::updateAlgorithm()
speedSquared = (speedSquared * nSampleAlgorithm +
(gpsVelocity.normSquared())) /
(nSampleAlgorithm + 1);
- phi(0) = gpsVelocity.vn.value<MeterPerSecond>() -
- velocity.vn.value<MeterPerSecond>();
- phi(1) = gpsVelocity.ve.value<MeterPerSecond>() -
- velocity.ve.value<MeterPerSecond>();
+ phi(0) = MeterPerSecond{gpsVelocity.vn}.value() -
+ MeterPerSecond{velocity.vn}.value();
+ phi(1) = MeterPerSecond{gpsVelocity.ve}.value() -
+ MeterPerSecond{velocity.ve}.value();
y = 0.5f * ((gpsVelocity.normSquared()) - speedSquared);
phiT = phi.transpose();
diff --git a/src/Parafoil/WindEstimation/WindEstimationData.h b/src/Parafoil/WindEstimation/WindEstimationData.h
index a5faaee6f4646908a4ae65b6aff80076210bacf0..bc96cfdc105165301085b8d4f085935b28f0908b 100644
--- a/src/Parafoil/WindEstimation/WindEstimationData.h
+++ b/src/Parafoil/WindEstimation/WindEstimationData.h
@@ -60,21 +60,14 @@ struct GeoVelocity
Boardcore::Units::Speed::MeterPerSecond ve{0}; // East velocity
/**
- * @brief Calculate the squared norm of the velocity vector.
+ * @brief Calculate the squared norm of the velocity vector. [m^2/s^2]
*/
float normSquared() const
{
- return vn.value<Boardcore::Units::Speed::MeterPerSecond>() *
- vn.value<Boardcore::Units::Speed::MeterPerSecond>() +
- ve.value<Boardcore::Units::Speed::MeterPerSecond>() *
- ve.value<Boardcore::Units::Speed::MeterPerSecond>();
+ return vn.value() * vn.value() + ve.value() * ve.value();
}
- Eigen::Vector2f asVector() const
- {
- return {vn.value<Boardcore::Units::Speed::MeterPerSecond>(),
- ve.value<Boardcore::Units::Speed::MeterPerSecond>()};
- }
+ Eigen::Vector2f asVector() const { return {vn.value(), ve.value()}; }
};
} // namespace Parafoil
diff --git a/src/Parafoil/Wing/AutomaticWingAlgorithm.cpp b/src/Parafoil/Wing/AutomaticWingAlgorithm.cpp
index ce9113b51c46cb00a127cb5052fa5b596bab5e2d..490747420a736d7b3f8f55d34ec1f72328d1f695 100644
--- a/src/Parafoil/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/Parafoil/Wing/AutomaticWingAlgorithm.cpp
@@ -45,7 +45,7 @@ AutomaticWingAlgorithm::AutomaticWingAlgorithm(float Kp, float Ki,
: Super(servo1, servo2), guidance(guidance)
{
// PIController needs the sample period in floating point seconds
- auto samplePeriod = 1.0f / UPDATE_RATE.value<Hertz>();
+ auto samplePeriod = 1.0f / Hertz{UPDATE_RATE}.value();
controller = std::make_unique<PIController>(Kp, Ki, samplePeriod,
PI::SATURATION_MIN_LIMIT,
@@ -121,7 +121,7 @@ Degree AutomaticWingAlgorithm::algorithmStep(const NASState& state)
// Call the PI with the just calculated error. The result is in RADIANS,
// if positive we activate one servo, if negative the other
// We also need to convert the result from radians back to degrees
- auto result = Degree(Radian(controller->update(error.value<Radian>())));
+ auto result = Degree(Radian(controller->update(Radian{error}.value())));
// Logs the outputs
{
@@ -139,7 +139,7 @@ Degree AutomaticWingAlgorithm::algorithmStep(const NASState& state)
Radian AutomaticWingAlgorithm::angleDiff(Radian a, Radian b)
{
- auto diff = (a - b).value<Radian>();
+ auto diff = (a - b).value();
// Angle difference
if (diff < -Constants::PI || Constants::PI < diff)