From 6f25736ad220fe9a951abb193b437a7bdce884db Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Tue, 21 Nov 2023 13:46:50 +0100
Subject: [PATCH] [RIG] Changes for the test on 22/11/2023
---
src/boards/RIG/Actuators/Actuators.cpp | 2 +-
src/boards/RIG/Configs/ActuatorsConfig.h | 2 +-
.../GroundModeManager/GroundModeManager.cpp | 18 ++++++++++++++++--
3 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/src/boards/RIG/Actuators/Actuators.cpp b/src/boards/RIG/Actuators/Actuators.cpp
index ba98cbee3..64412c669 100644
--- a/src/boards/RIG/Actuators/Actuators.cpp
+++ b/src/boards/RIG/Actuators/Actuators.cpp
@@ -46,7 +46,7 @@ Actuators::Actuators(TaskScheduler* sched) : scheduler(sched)
Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
servo4 =
new Servo(Config::Servos::SERVO4_TIMER, Config::Servos::SERVO4_PWM_CH,
- Config::Servos::MIN_PULSE, Config::Servos::MAX_PULSE);
+ Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
servo5 =
new Servo(Config::Servos::SERVO5_TIMER, Config::Servos::SERVO5_PWM_CH,
Config::Servos::MAX_PULSE, Config::Servos::MIN_PULSE);
diff --git a/src/boards/RIG/Configs/ActuatorsConfig.h b/src/boards/RIG/Configs/ActuatorsConfig.h
index 78c7081d9..52f1f0d69 100644
--- a/src/boards/RIG/Configs/ActuatorsConfig.h
+++ b/src/boards/RIG/Configs/ActuatorsConfig.h
@@ -60,7 +60,7 @@ constexpr uint32_t DEFAULT_RELEASE_OPENING_TIME = 10000; // 10s
constexpr uint32_t DEFAULT_DISCONNECT_OPENING_TIME = 10000; // 10s
constexpr float DEFAULT_FILLING_MAXIMUM_APERTURE = 0.97f;
-constexpr float DEFAULT_VENTING_MAXIMUM_APERTURE = 0.40f;
+constexpr float DEFAULT_VENTING_MAXIMUM_APERTURE = 0.80f;
constexpr float DEFAULT_MAIN_MAXIMUM_APERTURE = 0.87f;
constexpr float DEFAULT_RELEASE_MAXIMUM_APERTURE = 0.97f;
constexpr float DEFAULT_DISCONNECT_MAXIMUM_APERTURE = 0.110f;
diff --git a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
index 36e9140c3..67bded4a9 100644
--- a/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
+++ b/src/boards/RIG/StateMachines/GroundModeManager/GroundModeManager.cpp
@@ -141,7 +141,8 @@ void GroundModeManager::state_igniting(const Event& event)
oxidantTimeoutEventId = EventBroker::getInstance().postDelayed(
MOTOR_OPEN_OXIDANT, TOPIC_MOTOR, ignitionTime);
- return logStatus(GroundModeManagerState::IGNITING);
+ logStatus(GroundModeManagerState::IGNITING);
+ break;
}
case MOTOR_OPEN_OXIDANT:
{
@@ -152,6 +153,18 @@ void GroundModeManager::state_igniting(const Event& event)
break;
}
case MOTOR_CLOSE_FEED_VALVE:
+ {
+ // Shut down the igniter
+ miosix::relays::ignition::high();
+
+ // Close all the valves
+ modules.get<Actuators>()->closeAllServo();
+
+ EventBroker::getInstance().removeDelayed(oxidantTimeoutEventId);
+
+ transition(&GroundModeManager::state_ready);
+ break;
+ }
case TMTC_DISARM:
{
// Shut down the igniter
@@ -173,7 +186,8 @@ void GroundModeManager::state_igniting(const Event& event)
miosix::relays::nitrogen::high();
}
- return transition(&GroundModeManager::state_ready);
+ transition(&GroundModeManager::state_ready);
+ break;
}
}
}
--
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