diff --git a/.gitignore b/.gitignore
index d2d63ed98612b69e0bb748cd74a300734f41e1a2..9df3b454f410d9279fb0a25c11ee4fbb2d9e752c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -23,7 +23,9 @@ build
*.sublime-project
.vscode/*
-
store.json
scripts/event_header_generator/generated/
scripts/event_header_generator/venv/
+
+**/generated
+**/scxmls
diff --git a/sbs.conf b/sbs.conf
index 93083ca47a0bcc7ee5188a6a62033f37168ff467..135d4404230432a6fc796fc2fda69c0c925f4c9c 100644
--- a/sbs.conf
+++ b/sbs.conf
@@ -80,6 +80,7 @@ PROJECT_INCLUDES: -Isrc/boards
-Isrc/boards/DeathStack
-Iskyward-boardcore/src/shared
-Iskyward-boardcore
+ -Iskyward-boardcore/src/shared
-Iskyward-boardcore/libs/mavlink_skyward_lib
-Iskyward-boardcore/libs/eigen
PROJECT_SUBDIRS:
@@ -188,7 +189,7 @@ Files: src/boards/DeathStack/events/EventStrings.cpp
Type: board
BoardId: stm32f429zi_skyward_death_stack
BinName: death-stack-entry
-Include: %shared %deathstack %logger %pwm %spi %xbee %piksi %servo
+Include: %shared %deathstack %logger %pwm %spi %xbee %piksi %servo
Defines: -DDEATH_STACK_1
Main: death-stack-entry
@@ -411,10 +412,35 @@ Main: catch/ada/ada_kalman_p/test-ada-simulation
# Defines: -DSTANDALONE_CATCH1_TEST
# Main: catch/fsm/test-fmm
#
+
[test-ada]
Type: test
BoardId: stm32f429zi_skyward_death_stack
BinName: test-ada
Include: %shared %ada %test-utils %ada-test-sources %mock-sensors-data %logger %logservice %logger-hermes
Defines: -DSTANDALONE_CATCH1_TEST -DSDRAM_ISSI -DDEBUG
-Main: catch/fsm/test-ada
\ No newline at end of file
+Main: catch/fsm/test-ada
+
+[test-aerobrakes]
+Type: test
+BoardId: stm32f429zi_skyward_death_stack
+BinName: test-aerobrakes
+Include: %shared %test-utils %pwm %servo
+Defines: -DSTANDALONE_CATCH1_TEST
+Main: catch/fsm/test-aerobrakes
+
+[test-aerobrakes-interactive]
+Type: test
+BoardId: stm32f429zi_skyward_death_stack
+BinName: test-aerobrakes-interactive
+Include: %shared %test-utils %pwm %servo
+Defines: -DDEBUG
+Main: aerobrakes/test-aerobrakes-interactive
+
+[test-aerobrakes-algorithm]
+Type: test
+BoardId: stm32f429zi_skyward_death_stack
+BinName: test-aerobrakes-algorithm
+Include: %shared %servo %pwm
+Defines: -DDEBUG
+Main: aerobrakes/test-aerobrakes-algorithm
diff --git a/scripts/event_header_generator/README.md b/scripts/event_header_generator/README.md
deleted file mode 100644
index f87e46c67ebcec406b02c58e10dbe91b00a0c8d3..0000000000000000000000000000000000000000
--- a/scripts/event_header_generator/README.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# Events Generator Script
-
-This script generates the Events.h and Topics.h heander file from a GoogleSheets document on Google Drive.
-
-To execute the script:
-
-```
-pip install --upgrade google-api-python-client
-pip install oauth2client
-python scripts/homeone/event_header_generator/event_generator.py
-```
-
-The first time a browser window should open asking for your credentials (use the Skyward ones).
-If it doesn't and only gives you an error, try executing it by clicking on the icon.
\ No newline at end of file
diff --git a/scripts/event_header_generator/credentials.json b/scripts/event_header_generator/credentials.json
deleted file mode 100644
index dae318afc5661116b82fe75f80f4316e538e670a..0000000000000000000000000000000000000000
--- a/scripts/event_header_generator/credentials.json
+++ /dev/null
@@ -1 +0,0 @@
-{"installed":{"client_id":"1025168905991-tv31etsgm3lecodc5c798shqciekad40.apps.googleusercontent.com","project_id":"homeone-event-ge-1540834105298","auth_uri":"https://accounts.google.com/o/oauth2/auth","token_uri":"https://www.googleapis.com/oauth2/v3/token","auth_provider_x509_cert_url":"https://www.googleapis.com/oauth2/v1/certs","client_secret":"Yhaf67HuHR4DyXZKNXWu2lre","redirect_uris":["urn:ietf:wg:oauth:2.0:oob","http://localhost"]}}
\ No newline at end of file
diff --git a/scripts/event_header_generator/event_generator.py b/scripts/event_header_generator/event_generator.py
deleted file mode 100644
index 048a2ba7f8fe2725e46533b6877e974bf75e8cfc..0000000000000000000000000000000000000000
--- a/scripts/event_header_generator/event_generator.py
+++ /dev/null
@@ -1,209 +0,0 @@
-#!/usr/bin/python3
-
-# Copyright (c) 2018 Skyward Experimental Rocketry
-# Authors: Luca Erbetta
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-
-from googleapiclient.discovery import build
-from httplib2 import Http
-from oauth2client import file, client, tools
-
-import re
-import datetime
-import sys
-from os.path import join
-import os
-
-OUTPUT_FOLDER = "generated"
-SCOPES = 'https://www.googleapis.com/auth/spreadsheets.readonly'
-
-service = None
-
-# Spreadsheet file used to generate the events. The can be found in the link
-# to the spreadsheet, for example:
-# https://docs.google.com/spreadsheets/d/184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0/
-# -->
-# 184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0
-SPREADSHEET_ID = '184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0'
-EVENTS_RANGE_NAME = 'EventList!A2:A'
-TOPICS_RANGE_NAME = 'Topics!B3:B'
-
-
-def auth():
- try:
- store = file.Storage('store.json')
- creds = store.get()
- if not creds or creds.invalid:
- flow = client.flow_from_clientsecrets('credentials.json', SCOPES)
- creds = tools.run_flow(flow, store)
-
- global service
- service = build('sheets', 'v4', http=creds.authorize(Http()))
- return True
- except:
- print("Authentication error:", sys.exc_info()[0])
- return False
-
-
-def load_events():
- result = service.spreadsheets().values().get(spreadsheetId=SPREADSHEET_ID,
- range=EVENTS_RANGE_NAME).execute()
- lines = result.get('values', [])
-
- # Event names start with EV_ and contains only uppercase letters or underscores
- re_event = re.compile(r'(?P<ev>^EV_([A-Z_]+)+)')
-
- # Only return lines with valid events, remove additional data
- events = []
- for l in lines:
- m = re_event.match(l[0])
- if m is not None:
- events.append(m.group('ev'))
- else:
- print("Skipped line containing invalid event: {}".format(l))
-
- return events
-
-
-def load_topics():
- result = service.spreadsheets().values().get(spreadsheetId=SPREADSHEET_ID,
- range=TOPICS_RANGE_NAME).execute()
- lines = result.get('values', [])
- re_topics = re.compile(r'(?P<topic>^TOPIC_([A-Z_]+)+)')
-
- # Only return lines with valid topics, remove additional data
- topics = []
- for l in lines:
- m = re_topics.match(l[0])
- if m is not None:
- topics.append(m.group('topic'))
- else:
- print("Skipped line containing invalid topics: {}".format(l))
-
- return topics
-
-
-def has_duplicates(lst):
- if len(lst) != len(set(lst)):
- return True
- return False
-
-
-
-print("Skyward on-board software event header generator v0.2")
-print("Google sheets API auth in progress...")
-
-if auth():
- print("Auth successfull.")
-else:
- exit()
-
-#directory = os.path.dirname(OUTPUT_FOLDER)
-if not os.path.exists(OUTPUT_FOLDER):
- os.mkdir(OUTPUT_FOLDER)
-
-print("Reading from: https://docs.google.com/spreadsheets/d/" + SPREADSHEET_ID)
-
-events = load_events()
-topics = load_topics()
-
-# Check duplicates
-if has_duplicates(events):
- print("Duplicate events found! Terminating.")
- exit()
-
-if has_duplicates(topics):
- print("Duplicate topics found! Terminating.")
- exit()
-
-events.sort()
-topics.sort()
-
-print("{} events loaded.".format(len(events)))
-print("{} topics loaded.".format(len(topics)))
-
-enum_str = ""
-event_map_str = ""
-event_list_str = ""
-
-date = datetime.datetime.now()
-link = "https://docs.google.com/spreadsheets/d/{id}".format(id=SPREADSHEET_ID)
-
-
-# Events.h generation
-
-print("Generating Events.h...")
-
-for e in events:
- endl = ",\n" if e != events[-1] else ""
- enum_str += " " + e + \
- (" = EV_FIRST_SIGNAL" if e == events[0] else "") + endl
- event_map_str += " {{ {event}, {string} }}{endl}".format(
- event=e, string='"' + e + '"', endl=endl)
- event_list_str += e + (", " if e != events[-1] else "")
-
-with open('Events.h.template', 'r') as template_file:
- template = template_file.read()
-
-template = template.format(sheet_link=link, date=date,
- enum_data=enum_str,event_list=event_list_str)
-
-with open(join(OUTPUT_FOLDER, 'Events.h'), 'w') as header_file:
- header_file.write(template)
-
-print("Events.h successfully generated.")
-# Topics.h generation
-
-print("Generating Topics.h...")
-enum_str = ""
-topic_map_str = ""
-topic_list_str = ""
-
-for t in topics:
- endl = ",\n" if t != topics[-1] else ""
- enum_str += " " + t + endl
- topic_map_str += " {{ {topics}, {string} }}{endl}".format(
- topics=t, string='"' + t + '"', endl=endl)
- topic_list_str += t + (", " if t != topics[-1] else "")
-
-with open('Topics.h.template', 'r') as template_file:
- template = template_file.read()
-
-template = template.format(sheet_link=link, date=date,
- enum_data=enum_str, topic_list=topic_list_str)
-
-with open(join(OUTPUT_FOLDER, 'Topics.h'), 'w') as header_file:
- header_file.write(template)
-
-with open('EventStrings.cpp.template', 'r') as cpp_template_file:
- cpp = cpp_template_file.read()
-
-cpp = cpp.format(sheet_link=link, date=date,
- event_map_data=event_map_str, topic_map_data=topic_map_str)
-
-with open(join(OUTPUT_FOLDER, 'EventStrings.cpp'), 'w') as cpp_file:
- cpp_file.write(cpp)
-
-print("Topics.h successfully generated.")
-
-print()
-print("All files successfully generated. Please move Events.h, Topics.h, EventStrings.cpp into your project sources.")
-print(".... Done.")
diff --git a/scripts/event_header_generator/requirements.txt b/scripts/event_header_generator/requirements.txt
deleted file mode 100644
index b4e01569861fa5001ba712bfb61688ed45a3f451..0000000000000000000000000000000000000000
--- a/scripts/event_header_generator/requirements.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-cachetools==3.1.0
-certifi==2019.3.9
-chardet==3.0.4
-google-api-python-client==1.7.8
-google-auth==1.6.3
-google-auth-httplib2==0.0.3
-google-auth-oauthlib==0.3.0
-httplib2==0.12.3
-idna==2.8
-oauth2client==4.1.3
-oauthlib==3.0.1
-pkg-resources==0.0.0
-pyasn1==0.4.5
-pyasn1-modules==0.2.5
-requests==2.21.0
-requests-oauthlib==1.2.0
-rsa==4.0
-six==1.12.0
-uritemplate==3.0.0
-urllib3==1.24.2
diff --git a/scripts/eventgen.sh b/scripts/eventgen.sh
new file mode 100755
index 0000000000000000000000000000000000000000..6763addd5072948bc8e191ff4e61e4c31c20494a
--- /dev/null
+++ b/scripts/eventgen.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Copyright (c) 2021 Skyward Experimental Rocketry
+# Authors: Alberto Nidasio
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+DIRNAME="$(dirname $0)"
+$DIRNAME/../skyward-boardcore/scripts/generators/eventgen.py $@
diff --git a/scripts/fsmgen.sh b/scripts/fsmgen.sh
new file mode 100755
index 0000000000000000000000000000000000000000..2bae83d7f938ec78624784bfbb93aaa0f17e4431
--- /dev/null
+++ b/scripts/fsmgen.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Copyright (c) 2021 Skyward Experimental Rocketry
+# Authors: Alberto Nidasio
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+DIRNAME="$(dirname $0)"
+$DIRNAME/../skyward-boardcore/scripts/generators/fsmgen.py $@
diff --git a/scripts/linter.sh b/scripts/linter.sh
new file mode 100755
index 0000000000000000000000000000000000000000..f0b2eac4f3a6e8628c1abe05506886fe2b7fc572
--- /dev/null
+++ b/scripts/linter.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+DIRNAME="$(dirname $0)"
+$DIRNAME/../skyward-boardcore/scripts/linter.sh $DIRNAME/../src/boards
\ No newline at end of file
diff --git a/scripts/scxml2plant.sh b/scripts/scxml2plant.sh
new file mode 100755
index 0000000000000000000000000000000000000000..7a4d5a9cd20a8837ae09f940ff8b382d171ffee0
--- /dev/null
+++ b/scripts/scxml2plant.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+DIRNAME="$(dirname $0)"
+$DIRNAME/../skyward-boardcore/scripts/scxml2plant/scxml2plant.sh $DIRNAME/../src/boards
\ No newline at end of file
diff --git a/src/boards/DeathStack/AeroBrakesController/AeroBrakes.scxml b/src/boards/DeathStack/AeroBrakesController/AeroBrakes.scxml
new file mode 100644
index 0000000000000000000000000000000000000000..4eb7408f8e44f84d1bab3bc797c9c0d992b5a8f2
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/AeroBrakes.scxml
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<scxml xmlns="http://www.w3.org/2005/07/scxml" initial="initialization" version="1.0">
+ <state id="initialization">
+ <onentry>initServo()</onentry>
+ <onentry>transition(idle)</onentry>
+ </state>
+ <state id="idle">
+ <transition event="FLIGHT_EVENTS.EV_LIFTOFF" target="shadowMode" />
+ <transition event="ABK.EV_WIGGLE_SERVO" target="idle">
+ wiggleServo()
+ </transition>
+ <transition event="ABK.EV_RESET_SERVO" target="idle">
+ resetServo()
+ </transition>
+ <transition event="ABK.EV_TEST_ABK" target="testAirbrakes" />
+ </state>
+ <state id="shadowMode">
+ <onentry>postD(EV_SHADOW_MODE_TIMEOUT)</onentry>
+ <transition event="ABK.EV_SHADOW_MODE_TIMEOUT" target="enabled" />
+ <transition event="ABK.EV_DISABLE_ABK" target="disabled" />
+ </state>
+ <state id="enabled">
+ <onentry>enableAirbrakes()</onentry>
+ <transition event="FLIGHT_EVENTS.EV_APOGEE" target="end" />
+ <transition event="ABK.EV_DISABLE_ABK" target="disabled" />
+ </state>
+ <state id="end">
+ <onentry>setFullyClosed()</onentry>
+ </state>
+ <state id="disabled">
+ <onentry>setFullyClosed()</onentry>
+ </state>
+ <state id="testAirbrakes">
+ <onentry>enableAirbrakes()</onentry>
+ <onentry>incrementallyOpen()</onentry>
+ <onentry>postD(ABK.EV_TEST_TIMEOUT)</onentry>
+ <onexit>incrementallyClose()</onexit>
+ <onexit>disableAirbrakes()</onexit>
+ <transition event="ABK.EV_TEST_TIMEOUT" target="idle" />
+ </state>
+</scxml>
diff --git a/src/boards/DeathStack/AeroBrakesController/AeroBrakesControlAlgorithm.h b/src/boards/DeathStack/AeroBrakesController/AeroBrakesControlAlgorithm.h
new file mode 100644
index 0000000000000000000000000000000000000000..2339050e0460840d5c6a083ed70fa40d1035055b
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/AeroBrakesControlAlgorithm.h
@@ -0,0 +1,434 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <type_traits>
+
+#include "../Algorithm.h"
+#include "../ServoInterface.h"
+#include "AeroBrakesData.h"
+#include "Pid.h"
+#include "configs/AeroBrakesConfig.h"
+#include "sensors/Sensor.h"
+#include "trajectories/Trajectory.h"
+#include "TimestampTimer.h"
+
+/*
+ Error and timing benchmark results:
+
+ | float | double
+ ==========================================================
+ Max setpoint error: | 0.000122 | 0.000001
+ Max u error: | 0.001045 | 0.000052
+ Max deltas error: | 0.000000 | 0.000000
+ Max alpha error: | 0 | 0
+ Init time: | 0.179810 ms | 2.037333 ms
+ Avg iter time: | 0.151057 | 1.065261 ms
+ Total computation time: | 25.557320 ms | 181.001143 ms
+
+*/
+
+using namespace DeathStackBoard::AeroBrakesConfigs;
+
+namespace DeathStackBoard
+{
+
+template <class T>
+class AeroBrakesControlAlgorithm : public Algorithm
+{
+private:
+ uint32_t indexMinVal = 0;
+ float alpha = 0;
+ uint64_t ts = 0;
+ Trajectory chosenTrajectory;
+ ServoInterface* actuator;
+ Sensor<T>& sensor;
+ Pid pid;
+ AeroBrakesData data;
+
+ std::is_same<float, decltype(std::declval<T>().z)> checkz;
+ std::is_same<float, decltype(std::declval<T>().vz)> checkvz;
+ std::is_same<float, decltype(std::declval<T>().vMod)> checkvMod;
+ std::is_same<uint16_t, decltype(std::declval<T>().timestamp)>
+ checktimestamp;
+
+public:
+ AeroBrakesControlAlgorithm(Sensor<T>& sensor,
+ ServoInterface* actuator);
+
+ bool init() override { return true; }
+
+ /**
+ * @brief This method starts the algorithm and chooses the trajectory the
+ * rocket will follow for reaching apogee.
+ * */
+ void begin();
+
+ /**
+ * @brief This method looks for nearest point in the current chosen
+ * trajectory and sends to the servoInterface the aerobrakes degree
+ * according to the current rocket speed and the one in the prediction.
+ * */
+ void step() override;
+
+ /**
+ * @brief Computes the alpha degree (in radiants) to be sent to the
+ * servoInterface in order to follow the choosen trajectory. If
+ * firstIteration is true then the nearest trajectory to the current
+ * rocket's coordinates is chosen.
+ *
+ * @param firstIteration The flag indicating wheter the trajectory has
+ * already been choosen or not.
+ *
+ * @returns The alpha in radiants to be sent to the servoInterface
+ * */
+ float computeAlpha(bool firstIteration);
+
+ /**
+ * @brief Chooses the nearest point on the trajectory, considering all the
+ * trajectories. Given the rocket initial input, stores the nearest
+ * trajectory.
+ *
+ * @param z The altitude of the rocket
+ * @param vz The z component of the rocket's speed
+ * */
+ TrajectoryPoint chooseTrajectory(float z, float vz);
+
+ /**
+ * @brief Starting from the second iteration selects the nearest point on
+ * the choosen trajectory. This method does not consider the Euclidean
+ * distance, but only the altitude (z) distance.
+ *
+ * @param z The altitude of the rocket
+ * @param vz The z component of the rocket's speed
+ * */
+ TrajectoryPoint getSetpoint(float z, float vz);
+
+ /**
+ * @brief Update Pid internal input. The Pid output represents represents
+ * the drag force of the wind.
+ *
+ * @param vz The z component of the rocket's speed
+ * @param vMod Modulo of the rocket's speed
+ * @param rho The density of the air
+ * @param setpoint Nearest point to the current rocket input in the chosen
+ * trajectory
+ * */
+ float pidStep(float vz, float vMod, float rho, TrajectoryPoint setpoint);
+
+ /**
+ * @brief Compute the necessary aerobrakes surface to match the
+ * given the drag force from the Pid. The possible deltaS values are
+ * discretized in (DELTA_S_AVAILABLE_MIN, DELTA_S_AVAILABLE_MAX) with a
+ * step of DELTA_S_AVAILABLE_STEP. For every possible deltaS the
+ * correspondig drag force is computed with @see getDrag method and the one
+ * that gives lowest error with respect to Pid output is returned.
+ *
+ * @param z The current altitude of the rocket
+ * @param vz The z component of the rocket's speed
+ * @param vMod Modulo of the rocket's speed
+ * @param rho The density of the air
+ * @param u The current pid value
+ * */
+ float getDeltaS(float z, float vz, float vMod, float rho, float u);
+
+ /**
+ * @brief Maps the exposed aerobrakes surface to servoInterface angle in
+ * radiants.
+ *
+ * @param deltas Total variation of the aerobrakes surface
+ * */
+ float getAlpha(float deltaS);
+
+ /**
+ * @param h The current altitude
+ * @return The density of air according to current altitude.
+ * */
+ float getRho(float h);
+
+ /**
+ * @param v_mod Modulo of the current rocket speed.
+ * @param z The z component of the rocket's speed
+ * @return The speed in Mach unit.
+ * */
+ float getMach(float v_mod, float z);
+
+ /**
+ * @param deltaS The total variation of the aerobrakes surface
+ * @return The radial distance of the current aerobrakes extension.
+ * */
+ float getExtension(float deltaS);
+
+ /**
+ * @param h The current altitude of the rocket
+ * @param s
+ * @param powMach Array containing precomputed powers of the mach
+ * @return The drag force coefficient
+ * */
+ float getDrag(float h, float s, float* powMach);
+
+ /**
+ * @brief Log algorithm data structure
+ *
+ */
+ void logData();
+};
+
+template <class T>
+AeroBrakesControlAlgorithm<T>::AeroBrakesControlAlgorithm(
+ Sensor<T>& sensor, ServoInterface* actuator)
+ : actuator(actuator), sensor(sensor), pid(Kp, Ki)
+{
+}
+
+template <class T>
+void AeroBrakesControlAlgorithm<T>::begin()
+{
+ if (running)
+ {
+ return;
+ }
+
+ running = true;
+
+ ts = (sensor.getLastSample()).timestamp;
+
+ alpha = computeAlpha(true);
+ actuator->set(alpha);
+}
+
+template <class T>
+void AeroBrakesControlAlgorithm<T>::step()
+{
+ if ((sensor.getLastSample()).timestamp > ts)
+ {
+ ts = (sensor.getLastSample()).timestamp;
+ alpha = computeAlpha(false);
+ }
+
+ actuator->set(alpha);
+
+ logData();
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::computeAlpha(bool firstIteration)
+{
+ T input = sensor.getLastSample();
+ float z = input.z;
+ float vz = input.vz;
+ float vMod = input.vMod;
+ float rho = getRho(z);
+
+ TrajectoryPoint setpoint;
+
+ if (firstIteration)
+ {
+ setpoint = chooseTrajectory(z, vz);
+ }
+ else
+ {
+ setpoint = getSetpoint(z, vz);
+ }
+
+ float u = pidStep(vz, vMod, rho, setpoint);
+ float deltaS = getDeltaS(z, vz, vMod, rho, u);
+ float alpha = getAlpha(deltaS);
+
+ return alpha;
+}
+
+template <class T>
+TrajectoryPoint AeroBrakesControlAlgorithm<T>::chooseTrajectory(float z,
+ float vz)
+{
+ TrajectoryPoint currentPoint(z, vz);
+
+ float bestMin = INFINITY;
+
+ for (unsigned trajectoryIndex = 0; trajectoryIndex < TOT_TRAJECTORIES;
+ trajectoryIndex++)
+ {
+
+ Trajectory trajectory = Trajectory(trajectoryIndex);
+
+ for (uint32_t pointIndex = 0; pointIndex < LOOKS; pointIndex++)
+ {
+ TrajectoryPoint ref = trajectory.get(pointIndex);
+ float distancesFromCurrentinput =
+ TrajectoryPoint::distance(ref, currentPoint);
+
+ if (distancesFromCurrentinput < bestMin)
+ {
+ bestMin = distancesFromCurrentinput;
+ indexMinVal = pointIndex;
+ chosenTrajectory = trajectory;
+ }
+ }
+ }
+
+ TrajectoryPoint setpoint = chosenTrajectory.get(indexMinVal);
+
+ return setpoint;
+}
+
+template <class T>
+TrajectoryPoint AeroBrakesControlAlgorithm<T>::getSetpoint(float z, float vz)
+{
+ TrajectoryPoint currentPoint(z, vz);
+ float minDistance = INFINITY;
+
+ uint32_t start = std::max(indexMinVal + START_INDEX_OFFSET, (uint32_t)0);
+ uint32_t end = chosenTrajectory.length();
+
+ for (uint32_t pointIndex = start; pointIndex < end; pointIndex++)
+ {
+ TrajectoryPoint ref = chosenTrajectory.get(pointIndex);
+ float DistanceFromCurrentinput =
+ TrajectoryPoint::zDistance(ref, currentPoint);
+ if (DistanceFromCurrentinput < minDistance)
+ {
+ minDistance = DistanceFromCurrentinput;
+ indexMinVal = pointIndex;
+ }
+ }
+
+ TrajectoryPoint setpoint = chosenTrajectory.get(indexMinVal);
+
+ return setpoint;
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::pidStep(float vz, float vMod, float rho,
+ TrajectoryPoint setpoint)
+{
+ float umin = 0;
+ // The *1 factor replaces the cd variable. This variable will be later
+ // calculated in the getDeltaS method.
+ float umax = 0.5 * rho * S0 * 1 * vz * vMod;
+ float error = (vz - setpoint.getVz());
+
+ float u = pid.step(umin, umax, error);
+
+ return u;
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getDeltaS(float z, float vz, float vMod,
+ float rho, float u)
+{
+ float deltaS = 0;
+ float bestValue = INFINITY;
+
+ float mach = getMach(vMod, z);
+ // Precomputes all the powers of mach (from 0 to 6) in order to reuse it
+ // at avery iteration of the deltaSAvailable loop.
+ // See getDrag method.
+ float powMach[7] = {1,
+ mach,
+ powf(mach, 2),
+ powf(mach, 3),
+ powf(mach, 4),
+ powf(mach, 5),
+ powf(mach, 6)};
+
+ for (float deltaSAvailable = DELTA_S_AVAILABLE_MIN;
+ deltaSAvailable < DELTA_S_AVAILABLE_MAX + DELTA_S_AVAILABLE_STEP;
+ deltaSAvailable += DELTA_S_AVAILABLE_STEP)
+ {
+ float cdAvaliable = getDrag(z, deltaSAvailable, powMach);
+ float temp = abs(u - 0.5 * rho * S0 * cdAvaliable * vz * vMod);
+ if (temp < bestValue)
+ {
+ bestValue = temp;
+ deltaS = deltaSAvailable;
+ }
+ }
+
+ return deltaS;
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getAlpha(float deltaS)
+{
+ float alphaRadiants =
+ (-B_DELTAS + sqrt(powf(B_DELTAS, 2) + 4 * A_DELTAS * deltaS)) /
+ (2 * A_DELTAS);
+ float alphaDegrees = alphaRadiants * 180.0f / PI;
+
+ return alphaDegrees;
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getRho(float h)
+{
+ return RHO * expf(-h / Hn);
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getMach(float v_mod, float z)
+{
+ float c = Co + ALPHA * z;
+ return v_mod / c;
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getExtension(float deltaS)
+{
+ return (-B + sqrtf(powf(B, 2) + 4 * A * deltaS)) / (2 * A);
+}
+
+template <class T>
+float AeroBrakesControlAlgorithm<T>::getDrag(float h, float s, float* powMach)
+{
+ float x = getExtension(s);
+
+ return coeffs.n000 + coeffs.n100 * powMach[1] + coeffs.n200 * powMach[2] +
+ coeffs.n300 * powMach[3] + coeffs.n400 * powMach[4] +
+ coeffs.n500 * powMach[5] + coeffs.n600 * powMach[6] +
+ coeffs.n010 * x + coeffs.n020 * powf(x, 2) +
+ coeffs.n110 * x * powMach[1] +
+ coeffs.n120 * powf(x, 2) * powMach[1] +
+ coeffs.n210 * x * powMach[2] +
+ coeffs.n220 * powf(x, 2) * powMach[2] +
+ coeffs.n310 * x * powMach[3] +
+ coeffs.n320 * powf(x, 2) * powMach[3] +
+ coeffs.n410 * x * powMach[4] +
+ coeffs.n420 * powf(x, 2) * powMach[4] +
+ coeffs.n510 * x * powMach[5] +
+ coeffs.n520 * powf(x, 2) * powMach[5] + coeffs.n001 * h;
+}
+
+template <class T>
+void AeroBrakesControlAlgorithm<T>::logData()
+{
+ data.timestamp = TimestampTimer::getTimestamp();
+ data.running = running;
+ data.servo_position = actuator->getCurrentPosition();
+
+ // logger.log(data);
+}
+
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AeroBrakesController/AeroBrakesController.h b/src/boards/DeathStack/AeroBrakesController/AeroBrakesController.h
new file mode 100644
index 0000000000000000000000000000000000000000..53d7b05668060baf9bd0070c43cb5ad5c72e9111
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/AeroBrakesController.h
@@ -0,0 +1,396 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <miosix.h>
+
+#include "AeroBrakesController/AeroBrakesControlAlgorithm.h"
+#include "AeroBrakesController/AeroBrakesServo.h"
+#include "AeroBrakesData.h"
+#include "TimestampTimer.h"
+#include "configs/AeroBrakesConfig.h"
+#include "events/EventBroker.h"
+#include "events/Events.h"
+#include "events/FSM.h"
+
+namespace DeathStackBoard
+{
+
+/**
+ * @brief AeroBrakes state machine
+ */
+template <class T>
+class AeroBrakesController : public FSM<AeroBrakesController<T>>
+{
+public:
+ AeroBrakesController(Sensor<T>& sensor,
+ ServoInterface* servo = new AeroBrakesServo());
+ ~AeroBrakesController();
+
+ // Aerobrakes FSM states
+ void state_initialization(const Event& ev);
+ void state_idle(const Event& ev);
+ void state_shadowMode(const Event& ev);
+ void state_enabled(const Event& ev);
+ void state_end(const Event& ev);
+ void state_disabled(const Event& ev);
+ void state_testAerobrakes(const Event& ev);
+
+ /**
+ * @brief Update the aerobrakes control algorithm
+ */
+ void update();
+
+private:
+ AeroBrakesControllerStatus status;
+ ServoInterface* servo;
+ AeroBrakesControlAlgorithm<T> algorithm;
+
+ uint16_t ev_shadow_mode_timeout_id;
+
+ /**
+ * @brief Incrementally opens the servo with steps of 10°
+ */
+ void incrementallyOpen();
+
+ /**
+ * @brief Incrementally closes the servo with steps of 10°
+ */
+ void incrementallyClose();
+
+ void logStatus(AeroBrakesControllerState state);
+};
+
+template <class T>
+AeroBrakesController<T>::AeroBrakesController(Sensor<T>& sensor,
+ ServoInterface* servo)
+ : FSM<AeroBrakesController<T>>(
+ &AeroBrakesController<T>::state_initialization),
+ servo(servo), algorithm(sensor, servo)
+{
+ memset(&status, 0, sizeof(AeroBrakesControllerStatus));
+ sEventBroker->subscribe(this, TOPIC_FLIGHT_EVENTS);
+ sEventBroker->subscribe(this, TOPIC_ABK);
+}
+
+template <class T>
+AeroBrakesController<T>::~AeroBrakesController()
+{
+ sEventBroker->unsubscribe(this);
+}
+
+template <class T>
+void AeroBrakesController<T>::logStatus(AeroBrakesControllerState state)
+{
+ status.timestamp = TimestampTimer::getTimestamp();
+ status.state = state;
+
+ // logger.log(status);
+
+ // StackLogger::getInstance()->updateStack(THID_ABK_FSM);
+}
+
+template <class T>
+void AeroBrakesController<T>::update()
+{
+ algorithm.update();
+}
+
+template <class T>
+void AeroBrakesController<T>::state_initialization(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ servo->enable();
+ servo->reset();
+
+ this->transition(&AeroBrakesController<T>::state_idle);
+ break;
+ }
+ case EV_EXIT:
+ {
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_idle(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ logStatus(AeroBrakesControllerState::IDLE);
+
+ TRACE("[AeroBrakes] entering state idle\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state idle\n");
+ break;
+ }
+ case EV_LIFTOFF:
+ {
+ this->transition(&AeroBrakesController<T>::state_shadowMode);
+ break;
+ }
+ case EV_WIGGLE_SERVO:
+ {
+ servo->selfTest();
+ break;
+ }
+ case EV_RESET_SERVO:
+ {
+ servo->reset();
+ break;
+ }
+ case EV_TEST_ABK:
+ {
+ this->transition(&AeroBrakesController<T>::state_testAerobrakes);
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_shadowMode(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ ev_shadow_mode_timeout_id =
+ sEventBroker->postDelayed<SHADOW_MODE_DURATION>(
+ Event{EV_SHADOW_MODE_TIMEOUT}, TOPIC_FLIGHT_EVENTS);
+
+ logStatus(AeroBrakesControllerState::SHADOW_MODE);
+
+ TRACE("[AeroBrakes] entering state shadow_mode\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state shadow_mode\n");
+ break;
+ }
+ case EV_SHADOW_MODE_TIMEOUT:
+ {
+ this->transition(&AeroBrakesController<T>::state_enabled);
+ break;
+ }
+ case EV_DISABLE_ABK:
+ {
+ this->transition(&AeroBrakesController<T>::state_disabled);
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_enabled(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ algorithm.begin();
+
+ logStatus(AeroBrakesControllerState::ENABLED);
+
+ TRACE("[AeroBrakes] entering state enabled\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state enabled\n");
+ break;
+ }
+ case EV_APOGEE:
+ {
+ this->transition(&AeroBrakesController<T>::state_end);
+ break;
+ }
+ case EV_DISABLE_ABK:
+ {
+ this->transition(&AeroBrakesController<T>::state_disabled);
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_end(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ algorithm.end();
+ servo->reset();
+
+ logStatus(AeroBrakesControllerState::END);
+
+ TRACE("[AeroBrakes] entering state end\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state end\n");
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_disabled(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ algorithm.end();
+ servo->reset();
+
+ logStatus(AeroBrakesControllerState::DISABLED);
+
+ TRACE("[AeroBrakes] entering state disabled\n");
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state disabled\n");
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::state_testAerobrakes(const Event& ev)
+{
+ switch (ev.sig)
+ {
+ case EV_ENTRY:
+ {
+ TRACE("[AeroBrakes] entering state test_aerobrakes\n");
+
+ incrementallyOpen();
+ miosix::Thread::sleep(1000);
+ incrementallyClose();
+ miosix::Thread::sleep(1000);
+ servo->reset();
+
+ logStatus(AeroBrakesControllerState::TEST_AEROBRAKES);
+
+ sEventBroker->post(Event{EV_TEST_TIMEOUT}, TOPIC_ABK);
+ break;
+ }
+ case EV_EXIT:
+ {
+ TRACE("[AeroBrakes] exiting state test_aerobrakes\n");
+ break;
+ }
+ case EV_TEST_TIMEOUT:
+ {
+ this->transition(&AeroBrakesController<T>::state_idle);
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+}
+
+template <class T>
+void AeroBrakesController<T>::incrementallyOpen()
+{
+ // Equal steps of about 5°
+ const int STEPS_NUM = (servo->MAX_POS - servo->MIN_POS) / 10.0f;
+ const float INCREMENT_STEP = (servo->MAX_POS - servo->MIN_POS) / STEPS_NUM;
+
+ float currentStep = servo->MIN_POS;
+
+ for (auto i = 0; i < STEPS_NUM; i++)
+ {
+ TRACE("Servo position : %.2f\n", currentStep);
+ servo->set(currentStep);
+ currentStep += INCREMENT_STEP;
+ miosix::Thread::sleep(1000);
+ }
+
+ servo->set(servo->MAX_POS);
+}
+
+template <class T>
+void AeroBrakesController<T>::incrementallyClose()
+{
+ // Equal steps of about 5°
+ const int STEPS_NUM = (servo->MAX_POS - servo->MIN_POS) / 10.0f;
+ const float INCREMENT_STEP = (servo->MAX_POS - servo->MIN_POS) / STEPS_NUM;
+
+ float currentStep = servo->MAX_POS;
+
+ for (auto i = 0; i < STEPS_NUM; i++)
+ {
+ TRACE("Servo position : %.2f\n", currentStep);
+ servo->set(currentStep);
+ currentStep -= INCREMENT_STEP;
+ miosix::Thread::sleep(1000);
+ }
+
+ servo->set(servo->MIN_POS);
+}
+
+} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/src/boards/DeathStack/AeroBrakesController/AeroBrakesData.h b/src/boards/DeathStack/AeroBrakesController/AeroBrakesData.h
new file mode 100644
index 0000000000000000000000000000000000000000..b96ff70f7c596e3341ba8e9e2d2ce7566959d0bf
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/AeroBrakesData.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#include <iostream>
+#include <string>
+
+namespace DeathStackBoard
+{
+
+/**
+ * Enum defining the possibile FSM states.
+ */
+enum AeroBrakesControllerState : uint8_t
+{
+ IDLE = 0,
+ SHADOW_MODE,
+ ENABLED,
+ END,
+ DISABLED,
+ TEST_AEROBRAKES,
+};
+
+/**
+ * Structure defining the overall controller status.
+ */
+struct AeroBrakesControllerStatus
+{
+ long long timestamp;
+ AeroBrakesControllerState state;
+
+ static std::string header() { return "timestamp,state\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << (int)state << "\n";
+ }
+};
+
+/**
+ * Structure defining the output of the control algorithm.
+ */
+struct AeroBrakesData
+{
+ long long timestamp;
+ float running;
+ float servo_position;
+
+ static std::string header() { return "timestamp,running,servo_position\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << (int)running << "," << servo_position << "\n";
+ }
+};
+
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AeroBrakesController/AeroBrakesServo.h b/src/boards/DeathStack/AeroBrakesController/AeroBrakesServo.h
new file mode 100644
index 0000000000000000000000000000000000000000..d6a4475c84562d545e31fec606010ca115f960d9
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/AeroBrakesServo.h
@@ -0,0 +1,116 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "../ServoInterface.h"
+#include "../configs/AeroBrakesConfig.h"
+#include "drivers/servo/servo.h"
+#include "miosix.h"
+
+using namespace DeathStackBoard::AeroBrakesConfigs;
+
+namespace DeathStackBoard
+{
+class AeroBrakesServo : public ServoInterface
+{
+public:
+ AeroBrakesServo() : ServoInterface(SERVO_MIN_POS, SERVO_MAX_POS) {}
+ AeroBrakesServo(float minPosition, float maxPosition)
+ : ServoInterface(minPosition, maxPosition)
+ {
+ }
+ AeroBrakesServo(float minPosition, float maxPosition, float resetPosition)
+ : ServoInterface(minPosition, maxPosition, resetPosition)
+ {
+ }
+
+ void enable() override
+ {
+ servo.enable(SERVO_PWM_CH);
+ servo.start();
+ }
+
+ void disable() override
+ {
+ servo.stop();
+ servo.disable(SERVO_PWM_CH);
+ }
+
+ /**
+ * @brief Perform wiggle around the middle point.
+ */
+ void selfTest() override
+ {
+ float base = (MAX_POS + RESET_POS) / 2;
+ float maxpos = base + SERVO_WIGGLE_AMPLITUDE / 2;
+ float minpos = base - SERVO_WIGGLE_AMPLITUDE / 2;
+
+ set(base);
+
+ for (int i = 0; i < 3; i++)
+ {
+ miosix::Thread::sleep(UPDATE_TIME + 100);
+ set(maxpos);
+ miosix::Thread::sleep(UPDATE_TIME + 100);
+ set(minpos);
+ }
+
+ miosix::Thread::sleep(UPDATE_TIME);
+ }
+
+private:
+ Servo servo{SERVO_TIMER};
+
+protected:
+ /**
+ * @brief Set servo position.
+ *
+ * @param angle servo position (in degrees)
+ */
+ void setPosition(float angle) override
+ {
+ currentPosition = angle;
+ // map position to [0;1] interval for the servo driver
+ servo.setPosition(AeroBrakesConfigs::SERVO_PWM_CH, angle / 180.0f);
+ }
+
+ float preprocessPosition(float angle) override
+ {
+ angle = ServoInterface::preprocessPosition(angle);
+
+ float rate = (angle - currentPosition) / UPDATE_TIME;
+
+ if (rate > SERVO_MAX_RATE)
+ {
+ angle = UPDATE_TIME * SERVO_MAX_RATE + currentPosition;
+ }
+ else if (rate < SERVO_MIN_RATE)
+ {
+ angle = UPDATE_TIME * SERVO_MIN_RATE + currentPosition;
+ }
+
+ return angle;
+ }
+};
+} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/scripts/event_header_generator/EventStrings.cpp.template b/src/boards/DeathStack/AeroBrakesController/Coeffs.h
similarity index 54%
rename from scripts/event_header_generator/EventStrings.cpp.template
rename to src/boards/DeathStack/AeroBrakesController/Coeffs.h
index d11c60bbcd8c6f9896aa2e36f18cd173e3f4eb31..53b95075b53505504c40578c915641bd906ba85f 100644
--- a/scripts/event_header_generator/EventStrings.cpp.template
+++ b/src/boards/DeathStack/AeroBrakesController/Coeffs.h
@@ -1,5 +1,6 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,41 +21,33 @@
* THE SOFTWARE.
*/
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
-
-#include "Events.h"
-#include "Topics.h"
-
-#include <map>
-using std::map;
+#pragma once
namespace DeathStackBoard
-{{
-
-string getEventString(uint8_t event)
-{{
- static const map<uint8_t, string> event_string_map {{
-{event_map_data}
- }};
- auto it = event_string_map.find(event);
- return it == event_string_map.end() ? "EV_UNKNOWN" : it->second;
-}}
-
-string getTopicString(uint8_t topic)
-{{
- static const map<uint8_t, string> topic_string_map{{
-{topic_map_data}
- }};
- auto it = topic_string_map.find(topic);
- return it == topic_string_map.end() ? "TOPIC_UNKNOWN" : it->second;
-}}
-
-}}
\ No newline at end of file
+{
+typedef struct
+{
+ float n000 = 0.496878;
+ float n100 = -1.405038;
+ float n200 = 6.502618;
+ float n300 = -18.314261;
+ float n400 = 30.152448;
+ float n500 = -26.715700;
+ float n600 = 9.711730;
+ float n010 = 8.486901;
+ float n020 = 141.050398;
+ float n110 = 1.233043;
+ float n120 = -152.610100;
+ float n210 = 81.980768;
+ float n220 = 1072.170007;
+ float n310 = -309.620754;
+ float n320 = -3618.989164;
+ float n410 = 455.524477;
+ float n420 = 5190.202262;
+ float n510 = -212.545170;
+ float n520 = -2402.939515;
+ float n001 = 0.000003;
+} coeffs_t;
+
+const coeffs_t coeffs;
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AeroBrakesController/Pid.h b/src/boards/DeathStack/AeroBrakesController/Pid.h
new file mode 100644
index 0000000000000000000000000000000000000000..2d85e2a3d0a990a47e25fff3784f50cd34d91a20
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/Pid.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "Coeffs.h"
+
+namespace DeathStackBoard
+{
+/**
+ * @brief Pid proportional and integral controller with saturation
+ * */
+class Pid
+{
+private:
+ const float Kp;
+ const float Ki;
+
+ float i = 0;
+ bool saturation = false;
+
+public:
+ Pid(float Kp, float Ki) : Kp(Kp), Ki(Ki) {}
+ ~Pid() {}
+
+ /**
+ * @brief Update the Pid internal state
+ * */
+ float step(float umin, float umax, float error)
+ {
+
+ float p = Kp * error;
+
+ if (!saturation)
+ {
+ i = i + Ki * error;
+ }
+
+ float u = p + i;
+
+ if (u < umin)
+ {
+ u = umin;
+ saturation = true;
+ }
+ else if (u > umax)
+ {
+ u = umax;
+ saturation = true;
+ }
+ else
+ {
+ saturation = false;
+ }
+
+ return u;
+ }
+};
+
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/AeroBrakesController/readme.md b/src/boards/DeathStack/AeroBrakesController/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..ef63c80a1a898154e6d6b7e618b677c581064c7f
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/readme.md
@@ -0,0 +1,12 @@
+```mermaid
+stateDiagram-v2
+ [*] --> initialization
+ initialization --> idle
+ idle --> shadow_mode : EV_LIFTOFF
+ idle --> test_airbrakes : EV_TEST_ABK
+ shadow_mode --> enabled : EV_SHADOW_MODE_TIMEOUT
+ shadow_mode --> disabled : EV_DISABLE_ABK
+ enabled --> end : EV_APOGEE
+ enabled --> disabled : EV_DISABLE_ABK
+ test_airbrakes --> idle : EV_TEST_TIMEOUT
+```
\ No newline at end of file
diff --git a/src/boards/DeathStack/AeroBrakesController/trajectories/Trajectories_data.h b/src/boards/DeathStack/AeroBrakesController/trajectories/Trajectories_data.h
new file mode 100644
index 0000000000000000000000000000000000000000..055934ac9d0ca2669b891fd0ca05169dbf4c787d
--- /dev/null
+++ b/src/boards/DeathStack/AeroBrakesController/trajectories/Trajectories_data.h
@@ -0,0 +1,1727 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace DeathStackBoard
+{
+
+static const unsigned int TOT_TRAJECTORIES = 9;
+static const unsigned int TRAJECTORY_MAX_LENGTH = 500;
+
+struct point_t
+{
+ float z;
+ float vz;
+};
+
+struct trajectory_t
+{
+ unsigned int length;
+ point_t data[TRAJECTORY_MAX_LENGTH];
+};
+
+const trajectory_t TRAJECTORIES_DATA[TOT_TRAJECTORIES] = {
+ {404,
+ {
+ {822.834116, 250.000000}, {822.834116, 250.000000},
+ {825.748986, 249.760711}, {838.211504, 248.739999},
+ {850.623108, 247.724175}, {862.984042, 246.713176},
+ {875.294545, 245.706939}, {887.554854, 244.705404},
+ {899.765202, 243.708514}, {911.925820, 242.716212},
+ {924.036936, 241.728443}, {936.098776, 240.745154},
+ {948.111562, 239.766291}, {960.075515, 238.791806},
+ {971.990851, 237.821647}, {983.857786, 236.855768},
+ {995.676534, 235.894120}, {1007.447303, 234.936658},
+ {1019.170303, 233.983337}, {1030.845739, 233.034114},
+ {1042.473816, 232.088944}, {1054.054734, 231.147786},
+ {1065.588693, 230.210598}, {1077.075892, 229.277341},
+ {1088.516525, 228.347974}, {1099.910786, 227.422460},
+ {1111.258866, 226.500758}, {1122.560956, 225.582833},
+ {1133.817243, 224.668648}, {1145.027913, 223.758166},
+ {1156.193151, 222.851351}, {1167.313139, 221.948170},
+ {1178.388058, 221.048587}, {1189.418087, 220.152568},
+ {1200.403403, 219.260081}, {1211.344183, 218.371092},
+ {1222.240599, 217.485570}, {1233.092825, 216.603481},
+ {1243.901032, 215.724796}, {1254.665389, 214.849483},
+ {1265.386064, 213.977511}, {1276.063223, 213.108851},
+ {1286.697031, 212.243472}, {1297.287652, 211.381346},
+ {1307.835246, 210.522443}, {1318.339976, 209.666734},
+ {1328.801999, 208.814192}, {1339.221474, 207.964789},
+ {1349.598556, 207.118496}, {1359.933400, 206.275288},
+ {1370.226161, 205.435136}, {1380.476990, 204.598014},
+ {1390.686037, 203.763896}, {1400.853454, 202.932756},
+ {1410.979387, 202.104569}, {1421.063984, 201.279308},
+ {1431.107390, 200.456948}, {1441.109750, 199.637465},
+ {1451.071208, 198.820835}, {1460.991905, 198.007031},
+ {1470.871981, 197.196032}, {1480.711577, 196.387812},
+ {1490.510831, 195.582347}, {1500.269880, 194.779616},
+ {1509.988861, 193.979594}, {1519.667907, 193.182259},
+ {1529.307153, 192.387588}, {1538.906732, 191.595558},
+ {1548.466774, 190.806148}, {1557.987411, 190.019334},
+ {1567.468772, 189.235097}, {1576.910985, 188.453413},
+ {1586.314177, 187.674262}, {1595.678474, 186.897622},
+ {1605.004001, 186.123472}, {1614.290883, 185.351793},
+ {1623.539242, 184.582562}, {1632.749200, 183.815761},
+ {1641.920878, 183.051368}, {1651.054396, 182.289363},
+ {1660.149874, 181.529728}, {1669.207428, 180.772442},
+ {1678.227176, 180.017486}, {1687.209234, 179.264841},
+ {1696.153717, 178.514488}, {1705.060740, 177.766407},
+ {1713.930415, 177.020581}, {1722.762854, 176.276990},
+ {1731.558169, 175.535617}, {1740.316470, 174.796443},
+ {1749.037868, 174.059450}, {1757.722470, 173.324621},
+ {1766.370384, 172.591937}, {1774.981716, 171.861382},
+ {1783.556574, 171.132938}, {1792.095063, 170.406588},
+ {1800.597285, 169.682314}, {1809.063346, 168.960101},
+ {1817.493346, 168.239931}, {1825.887389, 167.521788},
+ {1834.245575, 166.805655}, {1842.568005, 166.091516},
+ {1850.854776, 165.379356}, {1859.105989, 164.669158},
+ {1867.321741, 163.960906}, {1875.502128, 163.254585},
+ {1883.647247, 162.550180}, {1891.757194, 161.847674},
+ {1899.832062, 161.147054}, {1907.871946, 160.448303},
+ {1915.876939, 159.751406}, {1923.847132, 159.056350},
+ {1931.782619, 158.363120}, {1939.683490, 157.671700},
+ {1947.549834, 156.982076}, {1955.381742, 156.294235},
+ {1963.179302, 155.608162}, {1970.942602, 154.923843},
+ {1978.671730, 154.241265}, {1986.366772, 153.560412},
+ {1994.027814, 152.881273}, {2001.654941, 152.203833},
+ {2009.248239, 151.528079}, {2016.807791, 150.853998},
+ {2024.333681, 150.181577}, {2031.825990, 149.510802},
+ {2039.284802, 148.841661}, {2046.710197, 148.174141},
+ {2054.102256, 147.508229}, {2061.461059, 146.843913},
+ {2068.786687, 146.181181}, {2076.079217, 145.520019},
+ {2083.338728, 144.860416}, {2090.565297, 144.202360},
+ {2097.759002, 143.545838}, {2104.919919, 142.890839},
+ {2112.048124, 142.237351}, {2119.143691, 141.585362},
+ {2126.206697, 140.934861}, {2133.237215, 140.285836},
+ {2140.235317, 139.638276}, {2147.201078, 138.992170},
+ {2154.134570, 138.347506}, {2161.035865, 137.704273},
+ {2167.905033, 137.062460}, {2174.742146, 136.422056},
+ {2181.547274, 135.783051}, {2188.320486, 135.145434},
+ {2195.061852, 134.509195}, {2201.771439, 133.874321},
+ {2208.449318, 133.240804}, {2215.095554, 132.608633},
+ {2221.710214, 131.977797}, {2228.293366, 131.348287},
+ {2234.845076, 130.720092}, {2241.365408, 130.093203},
+ {2247.854429, 129.467608}, {2254.312201, 128.843300},
+ {2260.738790, 128.220267}, {2267.134260, 127.598500},
+ {2273.498672, 126.977989}, {2279.832090, 126.358726},
+ {2286.134575, 125.740700}, {2292.406190, 125.123902},
+ {2298.646996, 124.508322}, {2304.857053, 123.893953},
+ {2311.036421, 123.280784}, {2317.185161, 122.668806},
+ {2323.303331, 122.058010}, {2329.390991, 121.448388},
+ {2335.448199, 120.839930}, {2341.475013, 120.232629},
+ {2347.471491, 119.626474}, {2353.437689, 119.021458},
+ {2359.373665, 118.417571}, {2365.279474, 117.814806},
+ {2371.155173, 117.213153}, {2377.000817, 116.612605},
+ {2382.816461, 116.013153}, {2388.602160, 115.414789},
+ {2394.357967, 114.817504}, {2400.083937, 114.221291},
+ {2405.780123, 113.626142}, {2411.446577, 113.032047},
+ {2417.083354, 112.439000}, {2422.690503, 111.846993},
+ {2428.268079, 111.256018}, {2433.816131, 110.666066},
+ {2439.334711, 110.077130}, {2444.823869, 109.489203},
+ {2450.283656, 108.902277}, {2455.714122, 108.316344},
+ {2461.115315, 107.731397}, {2466.487286, 107.147428},
+ {2471.830082, 106.564431}, {2477.143753, 105.982397},
+ {2482.428346, 105.401319}, {2487.683909, 104.821190},
+ {2492.910488, 104.242003}, {2498.108132, 103.663751},
+ {2503.276887, 103.086426}, {2508.416798, 102.510023},
+ {2513.527912, 101.934532}, {2518.610274, 101.359948},
+ {2523.663929, 100.786264}, {2528.688923, 100.213473},
+ {2533.685299, 99.641568}, {2538.653101, 99.070542},
+ {2543.592375, 98.500389}, {2548.503162, 97.931102},
+ {2553.385506, 97.362673}, {2558.239451, 96.795098},
+ {2563.065037, 96.228368}, {2567.862308, 95.662479},
+ {2572.631306, 95.097422}, {2577.372071, 94.533192},
+ {2582.084646, 93.969782}, {2586.769070, 93.407186},
+ {2591.425384, 92.845398}, {2596.053630, 92.284412},
+ {2600.653845, 91.724220}, {2605.226071, 91.164818},
+ {2609.770347, 90.606198}, {2614.286711, 90.048355},
+ {2618.775202, 89.491283}, {2623.235858, 88.934976},
+ {2627.668718, 88.379427}, {2632.073820, 87.824631},
+ {2636.451200, 87.270581}, {2640.800896, 86.717273},
+ {2645.122946, 86.164699}, {2649.417384, 85.612855},
+ {2653.684249, 85.061734}, {2657.923576, 84.511331},
+ {2662.135400, 83.961639}, {2666.319757, 83.412654},
+ {2670.476683, 82.864370}, {2674.606212, 82.316780},
+ {2678.708378, 81.769880}, {2682.783217, 81.223664},
+ {2686.830762, 80.678126}, {2690.851046, 80.133261},
+ {2694.844104, 79.589063}, {2698.809969, 79.045527},
+ {2702.748673, 78.502648}, {2706.660250, 77.960420},
+ {2710.544732, 77.418838}, {2714.402150, 76.877896},
+ {2718.232537, 76.337589}, {2722.035925, 75.797913},
+ {2725.812344, 75.258861}, {2729.561826, 74.720429},
+ {2733.284402, 74.182611}, {2736.980103, 73.645403},
+ {2740.648958, 73.108799}, {2744.290997, 72.572793},
+ {2747.906252, 72.037382}, {2751.494750, 71.502560},
+ {2755.056522, 70.968322}, {2758.591597, 70.434663},
+ {2762.100003, 69.901578}, {2765.581769, 69.369062},
+ {2769.036923, 68.837111}, {2772.465494, 68.305719},
+ {2775.867509, 67.774881}, {2779.242996, 67.244594},
+ {2782.591982, 66.714851}, {2785.914495, 66.185648},
+ {2789.210560, 65.656981}, {2792.480206, 65.128845},
+ {2795.723458, 64.601234}, {2798.940342, 64.074145},
+ {2802.130885, 63.547573}, {2805.295112, 63.021513},
+ {2808.433049, 62.495960}, {2811.544721, 61.970911},
+ {2814.630153, 61.446359}, {2817.689369, 60.922302},
+ {2820.722395, 60.398734}, {2823.729255, 59.875651},
+ {2826.709972, 59.353048}, {2829.664572, 58.830921},
+ {2832.593076, 58.309266}, {2835.495510, 57.788078},
+ {2838.371896, 57.267353}, {2841.222257, 56.747087},
+ {2844.046616, 56.227274}, {2846.844995, 55.707912},
+ {2849.617418, 55.188995}, {2852.363906, 54.670519},
+ {2855.084481, 54.152480}, {2857.779165, 53.634875},
+ {2860.447979, 53.117698}, {2863.090945, 52.600945},
+ {2865.708084, 52.084613}, {2868.299417, 51.568697},
+ {2870.864964, 51.053193}, {2873.404746, 50.538098},
+ {2875.918784, 50.023406}, {2878.407097, 49.509114},
+ {2880.869705, 48.995219}, {2883.306629, 48.481715},
+ {2885.717886, 47.968599}, {2888.103498, 47.455867},
+ {2890.463483, 46.943515}, {2892.797859, 46.431540},
+ {2895.106646, 45.919936}, {2897.389862, 45.408701},
+ {2899.647525, 44.897831}, {2901.879654, 44.387321},
+ {2904.086266, 43.877168}, {2906.267380, 43.367368},
+ {2908.423012, 42.857917}, {2910.553180, 42.348812},
+ {2912.657901, 41.840049}, {2914.737193, 41.331624},
+ {2916.791072, 40.823533}, {2918.819555, 40.315773},
+ {2920.822658, 39.808340}, {2922.800397, 39.301231},
+ {2924.752789, 38.794442}, {2926.679849, 38.287969},
+ {2928.581593, 37.781809}, {2930.458038, 37.275958},
+ {2932.309197, 36.770412}, {2934.135086, 36.265169},
+ {2935.935721, 35.760225}, {2937.711116, 35.255576},
+ {2939.461286, 34.751219}, {2941.186245, 34.247150},
+ {2942.886008, 33.743367}, {2944.560589, 33.239865},
+ {2946.210002, 32.736642}, {2947.834260, 32.233693},
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+ {2461.050391, 114.077030}, {2466.736098, 113.351269},
+ {2472.385594, 112.628543}, {2477.999028, 111.908815},
+ {2483.576549, 111.192050}, {2489.118306, 110.478213},
+ {2494.624443, 109.767269}, {2500.095104, 109.059183},
+ {2505.530432, 108.353922}, {2510.930566, 107.651452},
+ {2516.295646, 106.951742}, {2521.625808, 106.254759},
+ {2526.921189, 105.560471}, {2532.181922, 104.868847},
+ {2537.408140, 104.179857}, {2542.599973, 103.493469},
+ {2547.757551, 102.809654}, {2552.881002, 102.128382},
+ {2557.970452, 101.449625}, {2563.026027, 100.773353},
+ {2568.047849, 100.099539}, {2573.036041, 99.428153},
+ {2577.990724, 98.759170}, {2582.912017, 98.092561},
+ {2587.800039, 97.428300}, {2592.654905, 96.766360},
+ {2597.476732, 96.106715}, {2602.265634, 95.449339},
+ {2607.021722, 94.794207}, {2611.745110, 94.141293},
+ {2616.435907, 93.490574}, {2621.094221, 92.842023},
+ {2625.720162, 92.195617}, {2630.313836, 91.551333},
+ {2634.875348, 90.909145}, {2639.404803, 90.269032},
+ {2643.902303, 89.630970}, {2648.367950, 88.994935},
+ {2652.801846, 88.360906}, {2657.204090, 87.728861},
+ {2661.574781, 87.098776}, {2665.914017, 86.470631},
+ {2670.221892, 85.844404}, {2674.498504, 85.220073},
+ {2678.743947, 84.597618}, {2682.958312, 83.977018},
+ {2687.141694, 83.358251}, {2691.294183, 82.741299},
+ {2695.415869, 82.126141}, {2699.506841, 81.512756},
+ {2703.567188, 80.901125}, {2707.596997, 80.291229},
+ {2711.596354, 79.683048}, {2715.565344, 79.076563},
+ {2719.504052, 78.471756}, {2723.412562, 77.868608},
+ {2727.290954, 77.267100}, {2731.139312, 76.667214},
+ {2734.957716, 76.068932}, {2738.746245, 75.472236},
+ {2742.504978, 74.877108}, {2746.233994, 74.283531},
+ {2749.933370, 73.691487}, {2753.603181, 73.100959},
+ {2757.243503, 72.511931}, {2760.854411, 71.924385},
+ {2764.435978, 71.338304}, {2767.988278, 70.753673},
+ {2771.511382, 70.170475}, {2775.005361, 69.588693},
+ {2778.470286, 69.008311}, {2781.906226, 68.429314},
+ {2785.313251, 67.851687}, {2788.691429, 67.275412},
+ {2792.040826, 66.700476}, {2795.361510, 66.126862},
+ {2798.653545, 65.554555}, {2801.916997, 64.983541},
+ {2805.151931, 64.413805}, {2808.358409, 63.845332},
+ {2811.536495, 63.278107}, {2814.686251, 62.712116},
+ {2817.807737, 62.147345}, {2820.901016, 61.583779},
+ {2823.966145, 61.021404}, {2827.003185, 60.460207},
+ {2830.012195, 59.900174}, {2832.993232, 59.341291},
+ {2835.946352, 58.783544}, {2838.871614, 58.226921},
+ {2841.769072, 57.671407}, {2844.638782, 57.116990},
+ {2847.480798, 56.563657}, {2850.295175, 56.011395},
+ {2853.081964, 55.460190}, {2855.841220, 54.910030},
+ {2858.572993, 54.360904}, {2861.277336, 53.812797},
+ {2863.954298, 53.265698}, {2866.603930, 52.719595},
+ {2869.226282, 52.174475}, {2871.821402, 51.630326},
+ {2874.389339, 51.087137}, {2876.930140, 50.544896},
+ {2879.443852, 50.003590}, {2881.930522, 49.463209},
+ {2884.390195, 48.923741}, {2886.822918, 48.385174},
+ {2889.228735, 47.847498}, {2891.607690, 47.310700},
+ {2893.959827, 46.774770}, {2896.285188, 46.239697},
+ {2898.583818, 45.705471}, {2900.855756, 45.172079},
+ {2903.101046, 44.639512}, {2905.319728, 44.107759},
+ {2907.511842, 43.576809}, {2909.677429, 43.046653},
+ {2911.816527, 42.517279}, {2913.929176, 41.988677},
+ {2916.015414, 41.460838}, {2918.075279, 40.933752},
+ {2920.108808, 40.407407}, {2922.116038, 39.881796},
+ {2924.097005, 39.356907}, {2926.051746, 38.832731},
+ {2927.980296, 38.309259}, {2929.882689, 37.786481},
+ {2931.758961, 37.264388}, {2933.609145, 36.742970},
+ {2935.433275, 36.222219}, {2937.231383, 35.702124},
+ {2939.003503, 35.182678}, {2940.749667, 34.663871},
+ {2942.469906, 34.145695}, {2944.164252, 33.628140},
+ {2945.832736, 33.111198}, {2947.475387, 32.594860},
+ {2949.092236, 32.079119}, {2950.683314, 31.563965},
+ {2952.248647, 31.049390}, {2953.788267, 30.535386},
+ {2955.302200, 30.021946}, {2956.790475, 29.509060},
+ {2958.253120, 28.996721}, {2959.690161, 28.484922},
+ {2961.101625, 27.973654}, {2962.487539, 27.462909},
+ {2963.847929, 26.952682}, {2965.182820, 26.442962},
+ {2966.492238, 25.933745}, {2967.776207, 25.425021},
+ {2969.034752, 24.916785}, {2970.267898, 24.409029},
+ {2971.475667, 23.901745}, {2972.658084, 23.394928},
+ {2973.815171, 22.888571}, {2974.946952, 22.382666},
+ {2976.053449, 21.877207}, {2977.134684, 21.372188},
+ {2978.190679, 20.867602}, {2979.221455, 20.363444},
+ {2980.227033, 19.859706}, {2981.207436, 19.356384},
+ {2982.162682, 18.853470}, {2983.092793, 18.350960},
+ {2983.997788, 17.848848}, {2984.877687, 17.347127},
+ {2985.732510, 16.845793}, {2986.562276, 16.344841},
+ {2987.367004, 15.844264}, {2988.146712, 15.344058},
+ {2988.901419, 14.844219}, {2989.631143, 14.344740},
+ {2990.335902, 13.845618}, {2991.015713, 13.346847},
+ {2991.670595, 12.848424}, {2992.300564, 12.350344},
+ {2992.905638, 11.852603}, {2993.485833, 11.355196},
+ {2994.041166, 10.858120}, {2994.571653, 10.361371},
+ {2995.077311, 9.864946}, {2995.558156, 9.368840},
+ {2996.014203, 8.873051}, {2996.445469, 8.377575},
+ {2996.851968, 7.882409}, {2997.233717, 7.387550},
+ {2997.590731, 6.892996}, {2997.923024, 6.398744},
+ {2998.230613, 5.904790}, {2998.513511, 5.411134},
+ {2998.771734, 4.917773}, {2999.005295, 4.424704},
+ {2999.214211, 3.931926}, {2999.398495, 3.439438},
+ {2999.558162, 2.947236}, {2999.693226, 2.455321},
+ {2999.803701, 1.963691}, {2999.889602, 1.472345},
+ {2999.950943, 0.981281}, {2999.987737, 0.490500},
+ {2999.998745, 0.156943}, {2999.999950, 0.031348},
+ {2999.999998, 0.006229}, {3000.000000, 0.001206},
+ {3000.000000, 0.000201}, {3000.000000, 0.000000},
+ }},
+};
+
+} // namespace DeathStackBoard
diff --git a/scripts/event_header_generator/Events.h.template b/src/boards/DeathStack/AeroBrakesController/trajectories/Trajectory.h
similarity index 55%
rename from scripts/event_header_generator/Events.h.template
rename to src/boards/DeathStack/AeroBrakesController/trajectories/Trajectory.h
index 3d79b58591da02b142395484b2d2865983d57a7f..2009a691df9e676ff3a60c47ffb0e1e6986f5745 100644
--- a/scripts/event_header_generator/Events.h.template
+++ b/src/boards/DeathStack/AeroBrakesController/trajectories/Trajectory.h
@@ -1,5 +1,6 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,46 +21,36 @@
* THE SOFTWARE.
*/
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
#pragma once
-#include <cstdint>
-#include <string>
-#include <vector>
+#include "Trajectories_data.h"
+#include "TrajectoryPoint.h"
-#include "events/Event.h"
-#include "events/EventBroker.h"
-#include "Topics.h"
+namespace DeathStackBoard
+{
-using std::string;
+class Trajectory
+{
+private:
+ uint32_t index;
-namespace DeathStackBoard
-{{
-/**
- * Definition of all events in the Homeone Board software
- * Refer to section 5.1.1 of the Software Design Document.
- */
-enum Events : uint8_t
-{{
-{enum_data}
-}};
+public:
+ Trajectory(uint32_t index) : index(index) {}
+ Trajectory() : index(0) {}
-const std::vector<uint8_t> EVENT_LIST {{{event_list}}};
+ Trajectory& operator=(const Trajectory& other)
+ {
+ this->index = other.index;
+ return *this;
+ }
-/**
- * @brief Returns the name of the provided event
- *
- * @param event
- * @return string
- */
-string getEventString(uint8_t event);
+ uint32_t length() { return TRAJECTORIES_DATA[index].length; }
+
+ TrajectoryPoint get(uint32_t idx)
+ {
+ point_t point = TRAJECTORIES_DATA[index].data[idx];
+ return TrajectoryPoint(point.z, point.vz);
+ }
+};
-}}
+} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/scripts/event_header_generator/Topics.h.template b/src/boards/DeathStack/AeroBrakesController/trajectories/TrajectoryPoint.h
similarity index 58%
rename from scripts/event_header_generator/Topics.h.template
rename to src/boards/DeathStack/AeroBrakesController/trajectories/TrajectoryPoint.h
index 87986edbad2dfd6f72a2377389d43da214e85816..0355c21c2513ca8f9baa9fc1248398808f40a36e 100644
--- a/scripts/event_header_generator/Topics.h.template
+++ b/src/boards/DeathStack/AeroBrakesController/trajectories/TrajectoryPoint.h
@@ -1,5 +1,6 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,42 +21,40 @@
* THE SOFTWARE.
*/
-/*
- ******************************************************************************
- * THIS FILE IS AUTOGENERATED. DO NOT EDIT. *
- ******************************************************************************
- */
-
-// Generated from: {sheet_link}
-// Autogen date: {date}
-
#pragma once
-#include <stdint.h>
-#include <string>
-#include <vector>
-
-using std::string;
+#include <math.h>
namespace DeathStackBoard
-{{
-/**
- * Definition of various event topics to use in the EventBroker
- */
-enum Topics : uint8_t
-{{
-{enum_data}
-}};
-
-const std::vector<uint8_t> TOPIC_LIST {{{topic_list}}};
-
-/**
- * @brief Returns the name of the provided event
- *
- * @param event
- * @return string
- */
-string getTopicString(uint8_t topic);
-
-}} // namespace DeathStackBoard
-
+{
+
+class TrajectoryPoint
+{
+public:
+ TrajectoryPoint() : TrajectoryPoint(0, 0) {}
+ TrajectoryPoint(float z, float vz) : z(z), vz(vz) {}
+
+ float getZ() { return z; }
+ float getVz() { return vz; }
+
+ static float distance(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return powf(a.getZ() - b.getZ(), 2) + powf(a.getVz() - b.getVz(), 2);
+ }
+
+ static float zDistance(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return abs(a.getZ() - b.getZ());
+ }
+
+ static float vzDistance(TrajectoryPoint a, TrajectoryPoint b)
+ {
+ return abs(a.getVz() - b.getVz());
+ }
+
+private:
+ float z;
+ float vz;
+};
+
+} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/src/boards/DeathStack/Algorithm.h b/src/boards/DeathStack/Algorithm.h
new file mode 100644
index 0000000000000000000000000000000000000000..0c40679515642c0c2db4aa90a08a52f8851dd30c
--- /dev/null
+++ b/src/boards/DeathStack/Algorithm.h
@@ -0,0 +1,70 @@
+/* Copyright (c) 2020 Skyward Experimental Rocketry
+ * Authors: Luca Conterio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace DeathStackBoard
+{
+
+class Algorithm
+{
+public:
+ /**
+ * @brief Initializes the Algorithm object, must be called as soon as the
+ * object is created.
+ * */
+ virtual bool init() = 0;
+
+ /**
+ * @brief Starts the execution of the algorithm and set the running flag to
+ * true.
+ * */
+ void begin() { running = true; }
+
+ /**
+ * @brief Terminates the algorithm's execution and sets the running flag to
+ * false.
+ * */
+ void end() { running = false; }
+
+ /**
+ * @brief Checks wether the algorithm is in a running state or not, and
+ * eventually calls the @see{step} routine.
+ * */
+ void update()
+ {
+ if (running)
+ {
+ step();
+ }
+ }
+
+protected:
+ /**
+ * @brief The actual algorithm step.
+ */
+ virtual void step() = 0;
+
+ bool running = false;
+};
+
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/ServoInterface.h b/src/boards/DeathStack/ServoInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..77dc22bf1a52ec94f56c2a8c0a2a69bb626d90a0
--- /dev/null
+++ b/src/boards/DeathStack/ServoInterface.h
@@ -0,0 +1,153 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace DeathStackBoard
+{
+
+/**
+ * @brief Class for interfacing with 180° servo motors.
+ *
+ * This class provides all the methods for enabling/disabling servo
+ * communication as well as methods for testing it (like reset, setMaxPosition
+ * and selftest).
+ * The function set(float) is used to send data to the servo and calls, in
+ * sequence, the preprocessPosition() and the setPosition() functions. This
+ * function must not be overridden and all the logic of preprocessing and
+ * sending position to the actual servo must be implemented via those two
+ * methods.
+ * */
+class ServoInterface
+{
+public:
+ /**
+ * @brief Class constructor.
+ *
+ * @param minPosition The minimum position possible for the Servo
+ * @param maxPosition The maximum position possible for the Servo
+ * */
+ ServoInterface(float minPosition, float maxPosition)
+ : MIN_POS(minPosition), MAX_POS(maxPosition), RESET_POS(minPosition)
+ {
+ }
+
+ /**
+ * @brief Class constructor.
+ *
+ * @param minPosition The minimum position possible for the Servo
+ * @param maxPosition The maximum position possible for the Servo
+ * @param resetPosition The reset position for the Servo
+ * */
+ ServoInterface(float minPosition, float maxPosition, float resetPosition)
+ : MIN_POS(minPosition), MAX_POS(maxPosition), RESET_POS(resetPosition)
+ {
+ }
+
+ /**
+ * @brief Enables the communication with the servo and sets it to its reset
+ * position.
+ * */
+ virtual void enable() = 0;
+
+ /**
+ * @brief Disables the communication with the servo.
+ * */
+ virtual void disable() = 0;
+
+ /**
+ * @brief Sends the given input to the Servo. Before sending data the input
+ * is preprocessed in order to have a physical consistent position to send
+ * to the servo. Do not override this method, but use @see{setPosition} and
+ * @see{preprocessPosition}.
+ *
+ * @param angle The input to be sent to the Servo
+ * */
+ void set(float angle) { setPosition(preprocessPosition(angle)); }
+
+ /**
+ * @brief Sends the Servo the highest input possible
+ * */
+ void setMaxPosition() { setPosition(MAX_POS); }
+
+ /**
+ * @brief Sends the Servo the lowest input possible
+ * */
+ void setMinPosition() { setPosition(MIN_POS); }
+
+ /**
+ * @brief Sets servo to its reset position
+ * */
+ void reset() { setPosition(RESET_POS); }
+
+ /**
+ * @return current actuator position (in degrees)
+ */
+ float getCurrentPosition()
+ {
+ return currentPosition;
+ }
+
+ virtual void selfTest() = 0;
+
+ const float MIN_POS = 0;
+ const float MAX_POS = 0;
+ const float RESET_POS = 0;
+
+protected:
+ /**
+ * @brief Sends the data to the servo
+ *
+ * @param angle Data to be sent to servo
+ * */
+ virtual void setPosition(float angle) = 0;
+
+ /**
+ * @brief Applies any transformation needed to the data before actually
+ * sending it to the servo
+ *
+ * @param angle Non normalized input position
+ *
+ * @returns Normalized input position
+ * */
+ virtual float preprocessPosition(float angle)
+ {
+ if (angle > MAX_POS)
+ {
+ angle = MAX_POS;
+ }
+ else if (angle < MIN_POS)
+ {
+ angle = MIN_POS;
+ }
+
+ return angle;
+ };
+
+ /**
+ * @brief Actuator's current position.
+ */
+ float currentPosition = 0;
+};
+
+} // namespace DeathStackBoard
diff --git a/src/boards/DeathStack/configs/AeroBrakesConfig.h b/src/boards/DeathStack/configs/AeroBrakesConfig.h
new file mode 100644
index 0000000000000000000000000000000000000000..63c7317d0e23390f60103399f42a8992b85aa451
--- /dev/null
+++ b/src/boards/DeathStack/configs/AeroBrakesConfig.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "Constants.h"
+#include "drivers/HardwareTimer.h"
+#include "drivers/pwm/pwm.h"
+
+namespace DeathStackBoard
+{
+namespace AeroBrakesConfigs
+{
+
+static const PWM::Timer SERVO_TIMER{
+ TIM8, &(RCC->APB2ENR), RCC_APB2ENR_TIM8EN,
+ TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB2)};
+
+static constexpr PWMChannel SERVO_PWM_CH = PWMChannel::CH2;
+
+static constexpr uint32_t LOOKS = 50;
+static constexpr uint32_t START_INDEX_OFFSET = -1;
+static constexpr float M = 22; /**< rocket's mass */
+static constexpr float D = 0.15; /**< rocket's diameter */
+static constexpr float S0 = (PI * D * D) / 4;
+static constexpr float RHO = 1.225;
+static constexpr float Hn = 10400;
+static constexpr float Kp = 77;
+static constexpr float Ki = 5;
+static constexpr float Co = 340.3;
+static constexpr float ALPHA = -3.871e-3;
+static constexpr float A = -1.04034;
+static constexpr float B = 0.30548;
+static constexpr float A_DELTAS = -9.43386 / 1000;
+static constexpr float B_DELTAS = 19.86779 / 1000;
+static constexpr float DELTA_S_AVAILABLE_MIN = 0;
+static constexpr float DELTA_S_AVAILABLE_MAX = 0.01;
+static constexpr float DELTA_S_AVAILABLE_STEP = 0.0005;
+
+static constexpr float SERVO_MAX_POS = 50.99; // deg, 0.89 in radians
+static constexpr float SERVO_MIN_POS = 0; // deg
+static constexpr float SERVO_MAX_RATE = 60 / 0.2; // deg/s
+static constexpr float SERVO_MIN_RATE = -60 / 0.2; // deg/s
+static constexpr float SERVO_WIGGLE_AMPLITUDE = 10; // deg, 0.17 in radians
+
+static constexpr float UPDATE_TIME = 0.05 * 1000; // ms -> 20 Hz
+
+static constexpr int SHADOW_MODE_DURATION = 7500;
+
+} // namespace AeroBrakesConfigs
+
+} // namespace DeathStackBoard
\ No newline at end of file
diff --git a/src/boards/DeathStack/events/EventStrings.cpp b/src/boards/DeathStack/events/EventStrings.cpp
index 495e1ead073c1631b3cb3f74c7ab4cc955c57694..bc401bca0521ee1cc2ca092600a9a56e52f33872 100644
--- a/src/boards/DeathStack/events/EventStrings.cpp
+++ b/src/boards/DeathStack/events/EventStrings.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/* Copyright (c) 2018-2020 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Alvise de' Faveri Tron
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -26,104 +26,94 @@
******************************************************************************
*/
-// Generated from: https://docs.google.com/spreadsheets/d/184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0
-// Autogen date: 2019-11-06 23:09:09.820014
-
-
-#include "Events.h"
-#include "Topics.h"
+// Autogen date: 2021-03-13 22:05:05.465532
#include <map>
using std::map;
-namespace DeathStackBoard
-{
+#include "Events.h"
+#include "Topics.h"
string getEventString(uint8_t event)
{
- static const map<uint8_t, string> event_string_map {
- { EV_ADA_APOGEE_DETECTED, "EV_ADA_APOGEE_DETECTED" },
- { EV_ADA_DPL_ALT_DETECTED, "EV_ADA_DPL_ALT_DETECTED" },
- { EV_ADA_READY, "EV_ADA_READY" },
- { EV_APOGEE, "EV_APOGEE" },
- { EV_ARMED, "EV_ARMED" },
- { EV_BUTTON_DOWN, "EV_BUTTON_DOWN" },
- { EV_BUTTON_LONG_PRESS, "EV_BUTTON_LONG_PRESS" },
- { EV_BUTTON_SHORT_PRESS, "EV_BUTTON_SHORT_PRESS" },
- { EV_BUTTON_UP, "EV_BUTTON_UP" },
- { EV_BUTTON_VERY_LONG_PRESS, "EV_BUTTON_VERY_LONG_PRESS" },
- { EV_CALIBRATE_ADA, "EV_CALIBRATE_ADA" },
- { EV_CUT_BACKUP, "EV_CUT_BACKUP" },
- { EV_CUT_DROGUE, "EV_CUT_DROGUE" },
- { EV_CUT_PRIMARY, "EV_CUT_PRIMARY" },
- { EV_DISARMED, "EV_DISARMED" },
- { EV_DPL_ALTITUDE, "EV_DPL_ALTITUDE" },
- { EV_FLIGHTSTATS_TIMEOUT, "EV_FLIGHTSTATS_TIMEOUT" },
- { EV_INIT_ERROR, "EV_INIT_ERROR" },
- { EV_INIT_OK, "EV_INIT_OK" },
- { EV_LANDED, "EV_LANDED" },
- { EV_LIFTOFF, "EV_LIFTOFF" },
- { EV_NC_DETACHED, "EV_NC_DETACHED" },
- { EV_NC_OPEN, "EV_NC_OPEN" },
- { EV_RESET_SERVO, "EV_RESET_SERVO" },
- { EV_SEND_HR_TM, "EV_SEND_HR_TM" },
- { EV_SEND_LR_TM, "EV_SEND_LR_TM" },
- { EV_SEND_TEST_TM, "EV_SEND_TEST_TM" },
- { EV_TC_ARM, "EV_TC_ARM" },
- { EV_TC_BOARD_RESET, "EV_TC_BOARD_RESET" },
- { EV_TC_CALIBRATE_ADA, "EV_TC_CALIBRATE_ADA" },
- { EV_TC_CLOSE_LOG, "EV_TC_CLOSE_LOG" },
- { EV_TC_CUT_BACKUP, "EV_TC_CUT_BACKUP" },
- { EV_TC_CUT_DROGUE, "EV_TC_CUT_DROGUE" },
- { EV_TC_CUT_PRIMARY, "EV_TC_CUT_PRIMARY" },
- { EV_TC_DISARM, "EV_TC_DISARM" },
- { EV_TC_END_MISSION, "EV_TC_END_MISSION" },
- { EV_TC_FORCE_INIT, "EV_TC_FORCE_INIT" },
- { EV_TC_LAUNCH, "EV_TC_LAUNCH" },
- { EV_TC_NC_CLOSE, "EV_TC_NC_CLOSE" },
- { EV_TC_NC_OPEN, "EV_TC_NC_OPEN" },
- { EV_TC_RESET_SERVO, "EV_TC_RESET_SERVO" },
- { EV_TC_SET_DPL_ALTITUDE, "EV_TC_SET_DPL_ALTITUDE" },
- { EV_TC_SET_REFERENCE_ALTITUDE, "EV_TC_SET_REFERENCE_ALTITUDE" },
- { EV_TC_SET_REFERENCE_TEMP, "EV_TC_SET_REFERENCE_TEMP" },
- { EV_TC_START_ROGALLO_CONTROL, "EV_TC_START_ROGALLO_CONTROL" },
- { EV_TC_START_SENSOR_LOGGING, "EV_TC_START_SENSOR_LOGGING" },
- { EV_TC_STOP_SENSOR_LOGGING, "EV_TC_STOP_SENSOR_LOGGING" },
- { EV_TC_TEST_CUTTER_BACKUP, "EV_TC_TEST_CUTTER_BACKUP" },
- { EV_TC_TEST_CUTTER_PRIMARY, "EV_TC_TEST_CUTTER_PRIMARY" },
- { EV_TC_TEST_MODE, "EV_TC_TEST_MODE" },
- { EV_TC_WIGGLE_SERVO, "EV_TC_WIGGLE_SERVO" },
- { EV_TEST_CUTTER_BACKUP, "EV_TEST_CUTTER_BACKUP" },
- { EV_TEST_CUTTER_PRIMARY, "EV_TEST_CUTTER_PRIMARY" },
- { EV_TEST_MODE, "EV_TEST_MODE" },
- { EV_TIMEOUT_CUTTING, "EV_TIMEOUT_CUTTING" },
- { EV_TIMEOUT_END_MISSION, "EV_TIMEOUT_END_MISSION" },
- { EV_TIMEOUT_NC_OPEN, "EV_TIMEOUT_NC_OPEN" },
- { EV_TIMEOUT_PRESS_STABILIZATION, "EV_TIMEOUT_PRESS_STABILIZATION" },
- { EV_TIMEOUT_SERVO_RESET, "EV_TIMEOUT_SERVO_RESET" },
- { EV_TIMEOUT_SHADOW_MODE, "EV_TIMEOUT_SHADOW_MODE" },
- { EV_UMBILICAL_DETACHED, "EV_UMBILICAL_DETACHED" },
- { EV_WIGGLE_SERVO, "EV_WIGGLE_SERVO" }
+ static const map<uint8_t, string> event_string_map{
+ {EV_LIFTOFF, "EV_LIFTOFF"},
+ {EV_WIGGLE_SERVO, "EV_WIGGLE_SERVO"},
+ {EV_RESET_SERVO, "EV_RESET_SERVO"},
+ {EV_TEST_ABK, "EV_TEST_ABK"},
+ {EV_SHADOW_MODE_TIMEOUT, "EV_SHADOW_MODE_TIMEOUT"},
+ {EV_DISABLE_ABK, "EV_DISABLE_ABK"},
+ {EV_APOGEE, "EV_APOGEE"},
+ {EV_TEST_TIMEOUT, "EV_TEST_TIMEOUT"},
+ {EV_ADA_APOGEE_DETECTED, "EV_ADA_APOGEE_DETECTED"},
+ {EV_ADA_DPL_ALT_DETECTED, "EV_ADA_DPL_ALT_DETECTED"},
+ {EV_ADA_READY, "EV_ADA_READY"},
+ {EV_ARMED, "EV_ARMED"},
+ {EV_BUTTON_DOWN, "EV_BUTTON_DOWN"},
+ {EV_BUTTON_LONG_PRESS, "EV_BUTTON_LONG_PRESS"},
+ {EV_BUTTON_SHORT_PRESS, "EV_BUTTON_SHORT_PRESS"},
+ {EV_BUTTON_UP, "EV_BUTTON_UP"},
+ {EV_BUTTON_VERY_LONG_PRESS, "EV_BUTTON_VERY_LONG_PRESS"},
+ {EV_CALIBRATE_ADA, "EV_CALIBRATE_ADA"},
+ {EV_CUT_BACKUP, "EV_CUT_BACKUP"},
+ {EV_CUT_DROGUE, "EV_CUT_DROGUE"},
+ {EV_CUT_PRIMARY, "EV_CUT_PRIMARY"},
+ {EV_DISARMED, "EV_DISARMED"},
+ {EV_DPL_ALTITUDE, "EV_DPL_ALTITUDE"},
+ {EV_FLIGHTSTATS_TIMEOUT, "EV_FLIGHTSTATS_TIMEOUT"},
+ {EV_INIT_ERROR, "EV_INIT_ERROR"},
+ {EV_INIT_OK, "EV_INIT_OK"},
+ {EV_LANDED, "EV_LANDED"},
+ {EV_NC_DETACHED, "EV_NC_DETACHED"},
+ {EV_NC_OPEN, "EV_NC_OPEN"},
+ {EV_SEND_HR_TM, "EV_SEND_HR_TM"},
+ {EV_SEND_LR_TM, "EV_SEND_LR_TM"},
+ {EV_SEND_TEST_TM, "EV_SEND_TEST_TM"},
+ {EV_TC_ARM, "EV_TC_ARM"},
+ {EV_TC_BOARD_RESET, "EV_TC_BOARD_RESET"},
+ {EV_TC_CALIBRATE_ADA, "EV_TC_CALIBRATE_ADA"},
+ {EV_TC_CLOSE_LOG, "EV_TC_CLOSE_LOG"},
+ {EV_TC_CUT_BACKUP, "EV_TC_CUT_BACKUP"},
+ {EV_TC_CUT_DROGUE, "EV_TC_CUT_DROGUE"},
+ {EV_TC_CUT_PRIMARY, "EV_TC_CUT_PRIMARY"},
+ {EV_TC_DISARM, "EV_TC_DISARM"},
+ {EV_TC_END_MISSION, "EV_TC_END_MISSION"},
+ {EV_TC_FORCE_INIT, "EV_TC_FORCE_INIT"},
+ {EV_TC_LAUNCH, "EV_TC_LAUNCH"},
+ {EV_TC_NC_CLOSE, "EV_TC_NC_CLOSE"},
+ {EV_TC_NC_OPEN, "EV_TC_NC_OPEN"},
+ {EV_TC_RESET_SERVO, "EV_TC_RESET_SERVO"},
+ {EV_TC_SET_DPL_ALTITUDE, "EV_TC_SET_DPL_ALTITUDE"},
+ {EV_TC_SET_REFERENCE_ALTITUDE, "EV_TC_SET_REFERENCE_ALTITUDE"},
+ {EV_TC_SET_REFERENCE_TEMP, "EV_TC_SET_REFERENCE_TEMP"},
+ {EV_TC_START_ROGALLO_CONTROL, "EV_TC_START_ROGALLO_CONTROL"},
+ {EV_TC_START_SENSOR_LOGGING, "EV_TC_START_SENSOR_LOGGING"},
+ {EV_TC_STOP_SENSOR_LOGGING, "EV_TC_STOP_SENSOR_LOGGING"},
+ {EV_TC_TEST_CUTTER_BACKUP, "EV_TC_TEST_CUTTER_BACKUP"},
+ {EV_TC_TEST_CUTTER_PRIMARY, "EV_TC_TEST_CUTTER_PRIMARY"},
+ {EV_TC_TEST_MODE, "EV_TC_TEST_MODE"},
+ {EV_TC_WIGGLE_SERVO, "EV_TC_WIGGLE_SERVO"},
+ {EV_TEST_CUTTER_BACKUP, "EV_TEST_CUTTER_BACKUP"},
+ {EV_TEST_CUTTER_PRIMARY, "EV_TEST_CUTTER_PRIMARY"},
+ {EV_TEST_MODE, "EV_TEST_MODE"},
+ {EV_TIMEOUT_CUTTING, "EV_TIMEOUT_CUTTING"},
+ {EV_TIMEOUT_END_MISSION, "EV_TIMEOUT_END_MISSION"},
+ {EV_TIMEOUT_NC_OPEN, "EV_TIMEOUT_NC_OPEN"},
+ {EV_TIMEOUT_PRESS_STABILIZATION, "EV_TIMEOUT_PRESS_STABILIZATION"},
+ {EV_TIMEOUT_SERVO_RESET, "EV_TIMEOUT_SERVO_RESET"},
+ {EV_TIMEOUT_SHADOW_MODE, "EV_TIMEOUT_SHADOW_MODE"},
+ {EV_UMBILICAL_DETACHED, "EV_UMBILICAL_DETACHED"},
};
- auto it = event_string_map.find(event);
+ auto it = event_string_map.find(event);
return it == event_string_map.end() ? "EV_UNKNOWN" : it->second;
}
string getTopicString(uint8_t topic)
{
- static const map<uint8_t, string> topic_string_map{
- { TOPIC_ADA, "TOPIC_ADA" },
- { TOPIC_CAN, "TOPIC_CAN" },
- { TOPIC_DEPLOYMENT, "TOPIC_DEPLOYMENT" },
- { TOPIC_FLIGHT_EVENTS, "TOPIC_FLIGHT_EVENTS" },
- { TOPIC_FMM, "TOPIC_FMM" },
- { TOPIC_IGNITION, "TOPIC_IGNITION" },
- { TOPIC_STATS, "TOPIC_STATS" },
- { TOPIC_TC, "TOPIC_TC" },
- { TOPIC_TMTC, "TOPIC_TMTC" }
- };
- auto it = topic_string_map.find(topic);
- return it == topic_string_map.end() ? "TOPIC_UNKNOWN" : it->second;
-}
-
+ static const map<uint8_t, string> topic_string_map{
+ {TOPIC_FLIGHT_EVENTS, "TOPIC_FLIGHT_EVENTS"},
+ {TOPIC_ABK, "TOPIC_ABK"},
+ };
+ auto it = topic_string_map.find(topic);
+ return it == topic_string_map.end() ? "TOPIC_UNKNOWN" : it->second;
}
\ No newline at end of file
diff --git a/src/boards/DeathStack/events/Events.h b/src/boards/DeathStack/events/Events.h
index 08a2460eada2cf725b2c0e13a8ab9ee4c1250e98..a4debd2165879c2100758d77421008f61d05f735 100644
--- a/src/boards/DeathStack/events/Events.h
+++ b/src/boards/DeathStack/events/Events.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/* Copyright (c) 2018-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Alvise de' Faveri Tron
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -26,8 +26,7 @@
******************************************************************************
*/
-// Generated from: https://docs.google.com/spreadsheets/d/184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0
-// Autogen date: 2019-11-06 23:09:09.820014
+// Autogen date: 2021-03-13 22:05:05.465532
#pragma once
@@ -35,24 +34,29 @@
#include <string>
#include <vector>
+#include "Topics.h"
#include "events/Event.h"
#include "events/EventBroker.h"
-#include "Topics.h"
using std::string;
-namespace DeathStackBoard
-{
/**
* Definition of all events in the Homeone Board software
* Refer to section 5.1.1 of the Software Design Document.
*/
enum Events : uint8_t
{
- EV_ADA_APOGEE_DETECTED = EV_FIRST_SIGNAL,
+ EV_LIFTOFF = EV_FIRST_SIGNAL,
+ EV_WIGGLE_SERVO,
+ EV_RESET_SERVO,
+ EV_TEST_ABK,
+ EV_SHADOW_MODE_TIMEOUT,
+ EV_DISABLE_ABK,
+ EV_APOGEE,
+ EV_TEST_TIMEOUT,
+ EV_ADA_APOGEE_DETECTED,
EV_ADA_DPL_ALT_DETECTED,
EV_ADA_READY,
- EV_APOGEE,
EV_ARMED,
EV_BUTTON_DOWN,
EV_BUTTON_LONG_PRESS,
@@ -70,10 +74,8 @@ enum Events : uint8_t
EV_INIT_ERROR,
EV_INIT_OK,
EV_LANDED,
- EV_LIFTOFF,
EV_NC_DETACHED,
EV_NC_OPEN,
- EV_RESET_SERVO,
EV_SEND_HR_TM,
EV_SEND_LR_TM,
EV_SEND_TEST_TM,
@@ -111,17 +113,81 @@ enum Events : uint8_t
EV_TIMEOUT_SERVO_RESET,
EV_TIMEOUT_SHADOW_MODE,
EV_UMBILICAL_DETACHED,
- EV_WIGGLE_SERVO
};
-const std::vector<uint8_t> EVENT_LIST {EV_ADA_APOGEE_DETECTED, EV_ADA_DPL_ALT_DETECTED, EV_ADA_READY, EV_APOGEE, EV_ARMED, EV_BUTTON_DOWN, EV_BUTTON_LONG_PRESS, EV_BUTTON_SHORT_PRESS, EV_BUTTON_UP, EV_BUTTON_VERY_LONG_PRESS, EV_CALIBRATE_ADA, EV_CUT_BACKUP, EV_CUT_DROGUE, EV_CUT_PRIMARY, EV_DISARMED, EV_DPL_ALTITUDE, EV_FLIGHTSTATS_TIMEOUT, EV_INIT_ERROR, EV_INIT_OK, EV_LANDED, EV_LIFTOFF, EV_NC_DETACHED, EV_NC_OPEN, EV_RESET_SERVO, EV_SEND_HR_TM, EV_SEND_LR_TM, EV_SEND_TEST_TM, EV_TC_ARM, EV_TC_BOARD_RESET, EV_TC_CALIBRATE_ADA, EV_TC_CLOSE_LOG, EV_TC_CUT_BACKUP, EV_TC_CUT_DROGUE, EV_TC_CUT_PRIMARY, EV_TC_DISARM, EV_TC_END_MISSION, EV_TC_FORCE_INIT, EV_TC_LAUNCH, EV_TC_NC_CLOSE, EV_TC_NC_OPEN, EV_TC_RESET_SERVO, EV_TC_SET_DPL_ALTITUDE, EV_TC_SET_REFERENCE_ALTITUDE, EV_TC_SET_REFERENCE_TEMP, EV_TC_START_ROGALLO_CONTROL, EV_TC_START_SENSOR_LOGGING, EV_TC_STOP_SENSOR_LOGGING, EV_TC_TEST_CUTTER_BACKUP, EV_TC_TEST_CUTTER_PRIMARY, EV_TC_TEST_MODE, EV_TC_WIGGLE_SERVO, EV_TEST_CUTTER_BACKUP, EV_TEST_CUTTER_PRIMARY, EV_TEST_MODE, EV_TIMEOUT_CUTTING, EV_TIMEOUT_END_MISSION, EV_TIMEOUT_NC_OPEN, EV_TIMEOUT_PRESS_STABILIZATION, EV_TIMEOUT_SERVO_RESET, EV_TIMEOUT_SHADOW_MODE, EV_UMBILICAL_DETACHED, EV_WIGGLE_SERVO};
+const std::vector<uint8_t> EVENT_LIST{
+ EV_LIFTOFF,
+ EV_WIGGLE_SERVO,
+ EV_RESET_SERVO,
+ EV_TEST_ABK,
+ EV_SHADOW_MODE_TIMEOUT,
+ EV_DISABLE_ABK,
+ EV_APOGEE,
+ EV_TEST_TIMEOUT,
+ EV_ADA_APOGEE_DETECTED,
+ EV_ADA_DPL_ALT_DETECTED,
+ EV_ADA_READY,
+ EV_ARMED,
+ EV_BUTTON_DOWN,
+ EV_BUTTON_LONG_PRESS,
+ EV_BUTTON_SHORT_PRESS,
+ EV_BUTTON_UP,
+ EV_BUTTON_VERY_LONG_PRESS,
+ EV_CALIBRATE_ADA,
+ EV_CUT_BACKUP,
+ EV_CUT_DROGUE,
+ EV_CUT_PRIMARY,
+ EV_DISARMED,
+ EV_DPL_ALTITUDE,
+ EV_FLIGHTSTATS_TIMEOUT,
+ EV_INIT_ERROR,
+ EV_INIT_OK,
+ EV_LANDED,
+ EV_NC_DETACHED,
+ EV_NC_OPEN,
+ EV_SEND_HR_TM,
+ EV_SEND_LR_TM,
+ EV_SEND_TEST_TM,
+ EV_TC_ARM,
+ EV_TC_BOARD_RESET,
+ EV_TC_CALIBRATE_ADA,
+ EV_TC_CLOSE_LOG,
+ EV_TC_CUT_BACKUP,
+ EV_TC_CUT_DROGUE,
+ EV_TC_CUT_PRIMARY,
+ EV_TC_DISARM,
+ EV_TC_END_MISSION,
+ EV_TC_FORCE_INIT,
+ EV_TC_LAUNCH,
+ EV_TC_NC_CLOSE,
+ EV_TC_NC_OPEN,
+ EV_TC_RESET_SERVO,
+ EV_TC_SET_DPL_ALTITUDE,
+ EV_TC_SET_REFERENCE_ALTITUDE,
+ EV_TC_SET_REFERENCE_TEMP,
+ EV_TC_START_ROGALLO_CONTROL,
+ EV_TC_START_SENSOR_LOGGING,
+ EV_TC_STOP_SENSOR_LOGGING,
+ EV_TC_TEST_CUTTER_BACKUP,
+ EV_TC_TEST_CUTTER_PRIMARY,
+ EV_TC_TEST_MODE,
+ EV_TC_WIGGLE_SERVO,
+ EV_TEST_CUTTER_BACKUP,
+ EV_TEST_CUTTER_PRIMARY,
+ EV_TEST_MODE,
+ EV_TIMEOUT_CUTTING,
+ EV_TIMEOUT_END_MISSION,
+ EV_TIMEOUT_NC_OPEN,
+ EV_TIMEOUT_PRESS_STABILIZATION,
+ EV_TIMEOUT_SERVO_RESET,
+ EV_TIMEOUT_SHADOW_MODE,
+ EV_UMBILICAL_DETACHED,
+};
/**
* @brief Returns the name of the provided event
- *
- * @param event
- * @return string
+ *
+ * @param event
+ * @return string
*/
-string getEventString(uint8_t event);
-
-}
+string getEventString(uint8_t event);
\ No newline at end of file
diff --git a/src/boards/DeathStack/events/Topics.h b/src/boards/DeathStack/events/Topics.h
index 48f9f322c3db48c9752d4a8013e6183eef7d3770..be4a0c8701376ef5a17b1106d1edf4ddbf74abe8 100644
--- a/src/boards/DeathStack/events/Topics.h
+++ b/src/boards/DeathStack/events/Topics.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Authors: Luca Erbetta
+/* Copyright (c) 2018-2021 Skyward Experimental Rocketry
+ * Authors: Luca Erbetta, Alvise de' Faveri Tron
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -26,36 +26,45 @@
******************************************************************************
*/
-// Generated from: https://docs.google.com/spreadsheets/d/184kR2OAD7yWV0fYJdiGUDmHmy5_prY3nr-XgNA0Uge0
-// Autogen date: 2019-11-06 23:09:09.820014
+// Autogen date: 2021-03-13 22:05:05.465532
#pragma once
-#include <stdint.h>
+#include <cstdint>
#include <string>
#include <vector>
using std::string;
-namespace DeathStackBoard
-{
/**
* Definition of various event topics to use in the EventBroker
*/
enum Topics : uint8_t
{
- TOPIC_ADA,
+ TOPIC_FLIGHT_EVENTS,
+ TOPIC_ABK,
TOPIC_CAN,
TOPIC_DEPLOYMENT,
- TOPIC_FLIGHT_EVENTS,
TOPIC_FMM,
TOPIC_IGNITION,
TOPIC_STATS,
TOPIC_TC,
- TOPIC_TMTC
+ TOPIC_TMTC,
+ TOPIC_ADA
};
-const std::vector<uint8_t> TOPIC_LIST {TOPIC_ADA, TOPIC_CAN, TOPIC_DEPLOYMENT, TOPIC_FLIGHT_EVENTS, TOPIC_FMM, TOPIC_IGNITION, TOPIC_STATS, TOPIC_TC, TOPIC_TMTC};
+const std::vector<uint8_t> TOPIC_LIST{
+ TOPIC_FLIGHT_EVENTS,
+ TOPIC_ABK,
+ TOPIC_CAN,
+ TOPIC_DEPLOYMENT,
+ TOPIC_FMM,
+ TOPIC_IGNITION,
+ TOPIC_STATS,
+ TOPIC_TC,
+ TOPIC_TMTC,
+ TOPIC_ADA
+};
/**
* @brief Returns the name of the provided event
@@ -63,7 +72,4 @@ const std::vector<uint8_t> TOPIC_LIST {TOPIC_ADA, TOPIC_CAN, TOPIC_DEPLOYMENT, T
* @param event
* @return string
*/
-string getTopicString(uint8_t topic);
-
-} // namespace DeathStackBoard
-
+string getTopicString(uint8_t topic);
\ No newline at end of file
diff --git a/src/tests/aerobrakes/test-aerobrakes-algorithm.cpp b/src/tests/aerobrakes/test-aerobrakes-algorithm.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..446c4454ed081285c46631768401342b4eb65861
--- /dev/null
+++ b/src/tests/aerobrakes/test-aerobrakes-algorithm.cpp
@@ -0,0 +1,157 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <miosix.h>
+
+#include <cmath>
+#include <cstdio>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#define private public
+
+#include "AeroBrakesController/AeroBrakesControlAlgorithm.h"
+#include "AeroBrakesController/AeroBrakesServo.h"
+#include "drivers/HardwareTimer.h"
+#include "sensors/Sensor.h"
+#include "test_data.h"
+
+using namespace DeathStackBoard;
+using namespace std;
+class MockActuator : public AeroBrakesServo
+{
+public:
+ MockActuator() {}
+ // void setPosition(float alpha) { lastAlpha = round(alpha * 180 / PI); }
+ float error(float alphaTest) { return abs(alphaTest - currentPosition); }
+
+ // private:
+ // int lastAlpha;
+};
+
+template <typename T>
+class MockSensor : public Sensor<T>
+{
+private:
+ int ts = 0;
+
+protected:
+ T sampleImpl() override
+ {
+ input_t input = DATA[ts].input;
+ T sampled;
+
+ sampled.z = input.z;
+ sampled.vz = input.vz;
+ sampled.vMod = input.vMod;
+ sampled.timestamp = ts;
+
+ ts++;
+
+ return sampled;
+ }
+
+ bool init() override { return true; }
+
+ bool selfTest() override { return true; }
+};
+
+class InputClass
+{
+public:
+ float z;
+ float vz;
+ float vMod;
+ uint64_t timestamp;
+};
+
+MockActuator mockActuator;
+MockSensor<InputClass> mockSensor;
+AeroBrakesControlAlgorithm<InputClass> algorithm(mockSensor, &mockActuator);
+
+int main()
+{
+ {
+ miosix::FastInterruptDisableLock dLock;
+
+ // Enable TIM5 peripheral clocks
+ RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+ }
+
+ input_t input;
+
+ input = DATA[0].input;
+
+ HardwareTimer<uint32_t> hrclock(
+ TIM5,
+ TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1));
+ hrclock.setPrescaler(127);
+ hrclock.start();
+
+ mockSensor.sample();
+
+ uint32_t t1 = hrclock.tick();
+ algorithm.begin();
+ uint32_t t2 = hrclock.tick();
+
+ float startTime = hrclock.toMilliSeconds(t2 - t1);
+ float stepTime = 0;
+ int maxAlphaError = 0;
+
+ for (int i = 1; i < LEN_TEST; i++)
+ {
+ mockSensor.sample();
+ t1 = hrclock.tick();
+ algorithm.update();
+ t2 = hrclock.tick();
+
+ int error = mockActuator.error(DATA[i].output.alpha);
+
+ if (error > maxAlphaError)
+ {
+ maxAlphaError = error;
+ }
+
+ stepTime += hrclock.toMilliSeconds(t2 - t1);
+
+ cout << "z: " << mockSensor.getLastSample().z
+ << "\tvz: " << mockSensor.getLastSample().vz
+ << "\tvMod: " << mockSensor.getLastSample().vMod
+ << "\tservo: " << mockActuator.getCurrentPosition() << "\n";
+ }
+
+ miosix::Thread::sleep(AeroBrakesConfigs::UPDATE_TIME);
+
+ printf("Max alpha error: %d\n", maxAlphaError);
+
+ printf(
+ "Init time: %f ms\nAvg iter time: %f ms\nTotal computation time: %f "
+ "ms\n",
+ startTime, stepTime / (LEN_TEST - 1), stepTime + startTime);
+
+ // avoid reboot
+ while (1)
+ {
+ }
+}
\ No newline at end of file
diff --git a/src/tests/aerobrakes/test-aerobrakes-interactive.cpp b/src/tests/aerobrakes/test-aerobrakes-interactive.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..50be6426fe5155fce0b03c73ad8ef91404c6d748
--- /dev/null
+++ b/src/tests/aerobrakes/test-aerobrakes-interactive.cpp
@@ -0,0 +1,372 @@
+/**
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <miosix.h>
+
+#include <cstdio>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#include "AeroBrakesController/AeroBrakesController.h"
+#include "AeroBrakesController/AeroBrakesServo.h"
+#include "events/Events.h"
+#include "test_data.h"
+#include "utils/testutils/TestHelper.h"
+
+using namespace DeathStackBoard;
+
+using namespace std;
+
+void testAlgorithm();
+void testAeroBrakes();
+void wiggleServo();
+void setServoFullyOpen();
+void setServoFullyClosed();
+void resetServo();
+void manualServoControl();
+void setServoParameters();
+void resetServoParameters();
+void waitUserInput();
+
+class InputClass
+{
+public:
+ float z;
+ float vz;
+ float vMod;
+ uint64_t timestamp;
+};
+
+template <typename T>
+class MockSensor : public Sensor<T>
+{
+private:
+ int ts = 0;
+
+protected:
+ T sampleImpl() override
+ {
+ input_t input = DATA[ts].input;
+ T sampled;
+
+ sampled.z = input.z;
+ sampled.vz = input.vz;
+ sampled.vMod = input.vMod;
+ sampled.timestamp = ts;
+
+ ts++;
+
+ return sampled;
+ }
+
+ bool init() override { return true; }
+
+ bool selfTest() override { return true; }
+};
+
+float minPosition = AeroBrakesConfigs::SERVO_MIN_POS;
+float maxPosition = AeroBrakesConfigs::SERVO_MAX_POS;
+float resetPosition = AeroBrakesConfigs::SERVO_MIN_POS;
+
+int main()
+{
+ sEventBroker->start();
+
+ miosix::GpioPin pwmPin = miosix::GpioPin(GPIOC_BASE, 7);
+ pwmPin.mode(miosix::Mode::ALTERNATE);
+ pwmPin.alternateFunction(3);
+
+ string temp;
+ for (;;)
+ {
+ int choice;
+ cout << "\n\nWhat do you want to do?:\n";
+ cout << "1. Aerobrakes algorithm simulation (with test data)\n";
+ cout << "2. Aerobrakes full extension\n";
+ cout << "3. Servo wiggle\n";
+ cout << "4. Servo fully open\n";
+ cout << "5. Servo fully closed\n";
+ cout << "6. Servo reset\n";
+ cout << "7. Servo manual control\n";
+ cout << "8. Set servo parameters\n";
+ cout << "9. Reset servo parameters (default)\n";
+
+ getline(cin, temp);
+ stringstream(temp) >> choice;
+
+ switch (choice)
+ {
+ case 1:
+ testAlgorithm();
+ break;
+ case 2:
+ testAeroBrakes();
+ break;
+ case 3:
+ wiggleServo();
+ break;
+ case 4:
+ setServoFullyOpen();
+ break;
+ case 5:
+ setServoFullyClosed();
+ break;
+ case 6:
+ resetServo();
+ break;
+ case 7:
+ manualServoControl();
+ break;
+ case 8:
+ setServoParameters();
+ break;
+ case 9:
+ resetServoParameters();
+ break;
+ default:
+ cout << "Invalid option \n";
+ break;
+ }
+ }
+}
+
+void testAlgorithm()
+{
+ cout << "\n\n** AEROBRAKES ALGORITHM SIMULATION **\n\n";
+
+ waitUserInput();
+
+ // AeroBrakesController initialization
+ MockSensor<InputClass> sensor;
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ AeroBrakesController<InputClass> aerobrakesController(sensor, &servo);
+
+ // Start the state machine
+ aerobrakesController.start();
+ sensor.sample();
+ EventCounter counter{*sEventBroker};
+ counter.subscribe(TOPIC_FLIGHT_EVENTS);
+
+ // Start test
+ cout << "Starting aerobrakes test\n";
+ sEventBroker->post({EV_LIFTOFF}, TOPIC_FLIGHT_EVENTS);
+ while (counter.getCount(EV_SHADOW_MODE_TIMEOUT) < 1)
+ {
+ Thread::sleep(10);
+ }
+
+ for (int i = 1; i < LEN_TEST; i++)
+ {
+ sensor.sample();
+ aerobrakesController.update();
+ cout << "z: " << sensor.getLastSample().z
+ << "\tvz: " << sensor.getLastSample().vz
+ << "\tvMod: " << sensor.getLastSample().vMod
+ << "\tservo: " << servo.getCurrentPosition() << "\n";
+ Thread::sleep(AeroBrakesConfigs::UPDATE_TIME);
+ }
+
+ aerobrakesController.stop();
+ counter.stop();
+
+ cout << "\n\tTest finished!\n";
+}
+
+void testAeroBrakes()
+{
+ cout << "\n\n** AEROBRAKES FULL EXTENSION **\n\n";
+
+ waitUserInput();
+
+ // AeroBrakesController initialization
+ MockSensor<InputClass> sensor{};
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ AeroBrakesController<InputClass> aerobrakesController{sensor, &servo};
+
+ // Start the state machine
+ aerobrakesController.start();
+ EventCounter counter{*sEventBroker};
+ counter.subscribe(TOPIC_ABK);
+
+ // Start test
+ cout << "Starting aerobrakes test\n";
+ sEventBroker->post({EV_TEST_ABK}, TOPIC_ABK);
+
+ while (counter.getCount(EV_TEST_TIMEOUT) < 1)
+ {
+ Thread::sleep(100);
+ }
+
+ aerobrakesController.stop();
+ counter.stop();
+
+ cout << "\n\tTest finished!\n";
+}
+
+void wiggleServo()
+{
+ string temp;
+ cout << "\n\n** WIGGLE SERVO **\n\n";
+
+ waitUserInput();
+
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ servo.enable();
+
+ cout << "Wiggling ... \n";
+ servo.selfTest();
+ Thread::sleep(10000);
+ servo.disable();
+
+ cout << "\n\tDone!\n";
+}
+
+void setServoFullyOpen()
+{
+ string temp;
+ cout << "\n\n** SERVO FULLY OPEN **\n\n";
+
+ waitUserInput();
+
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ servo.enable();
+ servo.setMaxPosition();
+ Thread::sleep(10000);
+ servo.disable();
+
+ cout << "\n\tDone!\n";
+}
+
+void setServoFullyClosed()
+{
+ string temp;
+ cout << "\n\n** SERVO FULLY CLOSED **\n\n";
+
+ waitUserInput();
+
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ servo.enable();
+ servo.setMinPosition();
+ Thread::sleep(10000);
+ servo.disable();
+
+ cout << "\n\tDone!\n";
+}
+
+void resetServo()
+{
+ string temp;
+ cout << "\n\n** RESET SERVO **\n\n";
+
+ waitUserInput();
+
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+ servo.enable();
+ servo.reset();
+ Thread::sleep(1000);
+ servo.disable();
+
+ cout << "\n\tDone!\n";
+}
+
+void manualServoControl()
+{
+ cout << "\n\n** MANUAL SERVO CONTROL **\n\n";
+
+ string temp;
+ float angle;
+ do
+ {
+ cout << "Write the servo postion (degrees):\n";
+ getline(cin, temp);
+ stringstream(temp) >> angle;
+ } while (angle < minPosition || angle > maxPosition);
+
+ AeroBrakesServo servo{minPosition, maxPosition, resetPosition};
+
+ servo.enable();
+ while (servo.getCurrentPosition() != angle)
+ {
+ servo.set(angle);
+ Thread::sleep(AeroBrakesConfigs::UPDATE_TIME);
+ }
+ Thread::sleep(100);
+ servo.disable();
+
+ cout << "\n\tDone!\n";
+}
+
+void setServoParameters()
+{
+ cout << "\n\n** SET SERVO PARAMETERS **\n\n";
+
+ string temp;
+ do
+ {
+ cout << "Write the servo minimum postion (degrees):\n";
+ getline(cin, temp);
+ stringstream(temp) >> minPosition;
+ } while (minPosition < 0 || minPosition > 180.0f);
+
+ do
+ {
+ cout << "Write the servo maximum postion (degrees):\n";
+ getline(cin, temp);
+ stringstream(temp) >> maxPosition;
+ } while (maxPosition < 0 || maxPosition > 180.0f);
+
+ do
+ {
+ cout << "Write the servo reset postion (degrees):\n";
+ getline(cin, temp);
+ stringstream(temp) >> resetPosition;
+ } while (resetPosition < 0 || resetPosition > 180.0f);
+
+ cout << "Configured parameteres:\n";
+ cout << "\tminimum position: " << minPosition << "\n";
+ cout << "\tmaximum position: " << maxPosition << "\n";
+ cout << "\treset position: " << resetPosition << "\n";
+}
+
+void resetServoParameters()
+{
+ minPosition = AeroBrakesConfigs::SERVO_MIN_POS;
+ maxPosition = AeroBrakesConfigs::SERVO_MAX_POS;
+ resetPosition = AeroBrakesConfigs::SERVO_MIN_POS;
+
+ cout << "Configured parameteres (default):\n";
+ cout << "\tminimum position: " << minPosition << "\n";
+ cout << "\tmaximum position: " << maxPosition << "\n";
+ cout << "\treset position: " << resetPosition << "\n";
+}
+
+void waitUserInput()
+{
+ string temp;
+ do
+ {
+ cout << "Write 'start' to begin the test:\n";
+ getline(cin, temp);
+ } while (temp != "start");
+}
\ No newline at end of file
diff --git a/src/tests/aerobrakes/test_data.h b/src/tests/aerobrakes/test_data.h
new file mode 100644
index 0000000000000000000000000000000000000000..a937b6966b2a1d64f6bd56005868f40428773987
--- /dev/null
+++ b/src/tests/aerobrakes/test_data.h
@@ -0,0 +1,390 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Vincenzo Santomarco
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+static const int LEN_TEST = 169;
+
+struct input_t
+{
+ float z;
+ float vz;
+ float vMod;
+ float sampleTime;
+};
+
+struct output_t
+{
+ float z_setpoint;
+ float vz_setpoint;
+ float u;
+ float deltas;
+ int alpha;
+};
+
+struct test_t
+{
+ input_t input;
+ output_t output;
+};
+
+const test_t DATA[LEN_TEST] = {
+ {{1407.523534, 223.918458, 232.831273, 0.1},
+ {1410.698478, 224.370516, 0.000000, 0.000000, 0}},
+ {{1429.826222, 222.137686, 231.046739, 0.1},
+ {1433.007837, 221.822602, 22.001227, 0.000000, 0}},
+ {{1451.951540, 220.370997, 229.276914, 0.1},
+ {1455.064742, 219.321178, 83.824886, 0.000000, 0}},
+ {{1473.900883, 218.618135, 227.521532, 0.1},
+ {1476.873741, 216.864257, 146.806876, 0.000000, 0}},
+ {{1495.675620, 216.878841, 225.780334, 0.1},
+ {1498.439192, 214.449971, 210.925533, 0.002500, 8}},
+ {{1517.277018, 215.150907, 224.051216, 0.1},
+ {1519.765268, 212.076566, 275.998544, 0.004500, 15}},
+ {{1538.692467, 213.164813, 222.050419, 0.1},
+ {1540.855976, 209.742391, 319.912919, 0.006000, 21}},
+ {{1559.896941, 210.929504, 219.786565, 0.1},
+ {1561.715159, 207.445889, 342.042809, 0.007000, 26}},
+ {{1580.868317, 208.503942, 217.321830, 0.1},
+ {1582.346512, 205.185595, 345.908908, 0.007000, 26}},
+ {{1601.589631, 205.929325, 214.699801, 0.1},
+ {1602.753584, 202.960124, 333.870736, 0.007000, 26}},
+ {{1622.055564, 203.396178, 212.121054, 0.1},
+ {1622.939793, 200.768167, 320.739091, 0.007000, 26}},
+ {{1642.270215, 200.903468, 209.584307, 0.1},
+ {1642.908428, 198.608488, 306.570638, 0.007000, 26}},
+ {{1662.237560, 198.449839, 207.088281, 0.1},
+ {1662.662657, 196.479916, 291.390833, 0.007000, 26}},
+ {{1681.961982, 196.058211, 204.657393, 0.1},
+ {1682.205536, 194.381342, 277.209978, 0.006500, 23}},
+ {{1701.451202, 193.731747, 202.294942, 0.1},
+ {1701.540011, 192.311716, 264.533577, 0.006500, 23}},
+ {{1720.712684, 191.503026, 200.035297, 0.1},
+ {1720.668927, 190.270041, 256.296072, 0.006500, 23}},
+ {{1739.752816, 189.304576, 197.807258, 0.1},
+ {1739.595032, 188.255368, 247.391254, 0.006500, 23}},
+ {{1758.574577, 187.135466, 195.609965, 0.1},
+ {1758.320980, 186.266798, 237.832929, 0.006000, 21}},
+ {{1777.180861, 184.994918, 193.442602, 0.1},
+ {1776.849338, 184.303477, 227.643718, 0.006000, 21}},
+ {{1795.578146, 182.954926, 191.381404, 0.1},
+ {1795.182591, 182.364588, 222.810466, 0.006000, 21}},
+ {{1813.772666, 180.939526, 189.345943, 0.1},
+ {1813.323143, 180.449357, 217.548324, 0.006000, 21}},
+ {{1831.767240, 178.960146, 187.348411, 0.1},
+ {1831.273322, 178.557045, 212.859568, 0.006000, 21}},
+ {{1849.565570, 177.010170, 185.381850, 0.1},
+ {1849.035385, 176.686946, 208.325170, 0.006000, 21}},
+ {{1867.170012, 175.082317, 183.438539, 0.1},
+ {1866.611519, 174.838389, 203.439009, 0.006000, 21}},
+ {{1884.582753, 173.176068, 181.517929, 0.1},
+ {1884.003846, 173.010730, 198.214336, 0.006000, 21}},
+ {{1901.805928, 171.290886, 179.619473, 0.1},
+ {1901.214426, 171.203355, 192.660780, 0.006000, 21}},
+ {{1918.841611, 169.426147, 177.742548, 0.1},
+ {1918.245256, 169.415678, 186.779343, 0.006000, 21}},
+ {{1935.691826, 167.581464, 175.886774, 0.1},
+ {1935.098279, 167.647137, 180.588101, 0.006000, 21}},
+ {{1952.358556, 165.756368, 174.051669, 0.1},
+ {1951.775381, 165.897193, 174.097177, 0.006000, 21}},
+ {{1968.843737, 163.950404, 172.236762, 0.1},
+ {1968.278396, 164.165332, 167.316651, 0.006000, 21}},
+ {{1985.149439, 162.169295, 170.448186, 0.1},
+ {1984.609107, 162.451059, 160.761439, 0.005500, 19}},
+ {{2001.278287, 160.410614, 168.683383, 0.1},
+ {2000.769249, 160.753900, 154.307788, 0.005500, 19}},
+ {{2017.233572, 158.697809, 166.967443, 0.1},
+ {2016.760511, 159.073401, 149.942314, 0.005500, 19}},
+ {{2033.018389, 157.001195, 165.268700, 0.1},
+ {2032.584538, 157.409124, 145.412723, 0.005500, 19}},
+ {{2048.634338, 155.320412, 163.586791, 0.1},
+ {2048.242929, 155.760649, 140.723784, 0.005500, 19}},
+ {{2064.082987, 153.655113, 161.921368, 0.1},
+ {2063.737245, 154.127573, 135.880349, 0.005000, 17}},
+ {{2079.365866, 152.004960, 160.272087, 0.1},
+ {2079.069006, 152.509506, 130.886994, 0.005000, 17}},
+ {{2094.486432, 150.408612, 158.680445, 0.1},
+ {2094.239695, 150.906075, 128.945069, 0.005000, 17}},
+ {{2109.448027, 148.825441, 157.102924, 0.1},
+ {2109.250756, 149.316919, 126.948556, 0.005000, 17}},
+ {{2124.251954, 147.255236, 155.539324, 0.1},
+ {2124.103601, 147.741691, 124.903075, 0.005000, 17}},
+ {{2138.899517, 145.698979, 153.990723, 0.1},
+ {2138.799604, 146.180055, 122.911826, 0.005500, 19}},
+ {{2153.392272, 144.158165, 152.458755, 0.1},
+ {2153.340110, 144.631690, 121.125681, 0.005500, 19}},
+ {{2167.729859, 142.595759, 150.903540, 0.1},
+ {2167.726428, 143.096281, 116.544249, 0.005000, 17}},
+ {{2181.911853, 141.046238, 149.362216, 0.1},
+ {2181.959840, 141.573528, 111.846697, 0.005000, 17}},
+ {{2195.941149, 139.541589, 147.869341, 0.1},
+ {2196.041597, 140.063140, 109.680869, 0.005000, 17}},
+ {{2209.820551, 138.048329, 146.388841, 0.1},
+ {2209.972921, 138.564834, 107.486848, 0.005000, 17}},
+ {{2223.551186, 136.566227, 144.920493, 0.1},
+ {2223.755007, 137.078337, 105.264693, 0.005000, 17}},
+ {{2237.134161, 135.095065, 143.464081, 0.1},
+ {2237.389022, 135.603386, 103.014797, 0.005000, 17}},
+ {{2250.570557, 133.634627, 142.019394, 0.1},
+ {2250.876108, 134.139726, 100.737494, 0.005000, 17}},
+ {{2263.861436, 132.184701, 140.586228, 0.1},
+ {2264.217381, 132.687107, 98.432779, 0.005000, 17}},
+ {{2277.007840, 130.745074, 139.164381, 0.1},
+ {2277.413934, 131.245290, 96.100334, 0.005000, 17}},
+ {{2290.010788, 129.315539, 137.753660, 0.1},
+ {2290.466835, 129.814042, 93.739752, 0.005000, 17}},
+ {{2302.871343, 127.897638, 136.355777, 0.1},
+ {2303.377130, 128.393136, 91.493595, 0.005000, 17}},
+ {{2315.590644, 126.489974, 134.969234, 0.1},
+ {2316.145842, 126.982353, 89.271851, 0.005000, 17}},
+ {{2328.169653, 125.091761, 133.593199, 0.1},
+ {2328.773972, 125.581479, 87.028189, 0.005000, 17}},
+ {{2340.609305, 123.702814, 132.227500, 0.1},
+ {2341.262502, 124.190307, 84.762076, 0.005000, 17}},
+ {{2352.910518, 122.322948, 130.871970, 0.1},
+ {2353.612390, 122.808635, 82.472658, 0.005000, 17}},
+ {{2365.074191, 120.951981, 129.526447, 0.1},
+ {2365.824578, 121.436267, 80.159115, 0.005000, 17}},
+ {{2377.101205, 119.589741, 128.190773, 0.1},
+ {2377.899985, 120.073012, 77.820896, 0.005000, 17}},
+ {{2388.992425, 118.236061, 126.864795, 0.1},
+ {2389.839515, 118.718683, 75.457721, 0.004500, 15}},
+ {{2400.748697, 116.890780, 125.548366, 0.1},
+ {2401.644050, 117.373101, 73.069412, 0.004500, 15}},
+ {{2412.371612, 115.568806, 124.257936, 0.1},
+ {2413.314456, 116.036087, 71.891017, 0.004500, 15}},
+ {{2423.862714, 114.254488, 122.976329, 0.1},
+ {2424.851582, 114.707470, 70.727132, 0.005000, 17}},
+ {{2435.222760, 112.947681, 121.703422, 0.1},
+ {2436.256259, 113.387082, 69.575894, 0.005000, 17}},
+ {{2446.451788, 111.634162, 120.423512, 0.1},
+ {2447.529301, 112.074759, 67.280809, 0.004500, 15}},
+ {{2457.549877, 110.328894, 119.153172, 0.1},
+ {2458.671507, 110.770342, 65.008026, 0.004500, 15}},
+ {{2468.518481, 109.044366, 117.906294, 0.1},
+ {2469.683660, 109.473673, 63.796332, 0.004500, 15}},
+ {{2479.358982, 107.766798, 116.667643, 0.1},
+ {2480.566527, 108.184601, 62.593195, 0.004500, 15}},
+ {{2490.072068, 106.496060, 115.437113, 0.1},
+ {2491.320859, 106.902976, 61.396891, 0.005000, 17}},
+ {{2500.658417, 105.231983, 114.214575, 0.1},
+ {2501.947396, 105.628652, 60.202504, 0.005000, 17}},
+ {{2511.118055, 103.961930, 112.985948, 0.1},
+ {2512.446858, 104.361488, 57.982258, 0.004500, 15}},
+ {{2521.451029, 102.698677, 111.765518, 0.1},
+ {2522.819957, 103.101343, 55.729628, 0.004500, 15}},
+ {{2531.658591, 101.453613, 110.566106, 0.1},
+ {2533.067385, 101.848081, 54.388563, 0.004500, 15}},
+ {{2541.741959, 100.214775, 109.374353, 0.1},
+ {2543.189826, 100.601569, 53.045474, 0.004500, 15}},
+ {{2551.701750, 98.982052, 108.190179, 0.1},
+ {2553.187947, 99.361675, 51.699514, 0.004500, 15}},
+ {{2561.538570, 97.755336, 107.013501, 0.1},
+ {2563.062404, 98.128272, 50.349771, 0.004500, 15}},
+ {{2571.253014, 96.534517, 105.844243, 0.1},
+ {2572.813840, 96.901233, 48.995142, 0.004500, 15}},
+ {{2580.845666, 95.319487, 104.682332, 0.1},
+ {2582.442885, 95.680437, 47.634353, 0.004500, 15}},
+ {{2590.317100, 94.110134, 103.527695, 0.1},
+ {2591.950157, 94.465761, 46.266054, 0.004500, 15}},
+ {{2599.667867, 92.906047, 102.379915, 0.1},
+ {2601.336262, 93.257089, 44.863988, 0.004500, 15}},
+ {{2608.898492, 91.707370, 101.239199, 0.1},
+ {2610.601795, 92.054303, 43.445653, 0.004000, 13}},
+ {{2618.009521, 90.514092, 100.105582, 0.1},
+ {2619.747339, 90.857290, 42.017225, 0.004000, 13}},
+ {{2627.002040, 89.337126, 98.991641, 0.1},
+ {2628.773466, 89.665938, 41.480883, 0.004000, 13}},
+ {{2635.877108, 88.165040, 97.884362, 0.1},
+ {2637.680735, 88.480138, 40.961420, 0.004500, 15}},
+ {{2644.635208, 86.997737, 96.783700, 0.1},
+ {2646.469697, 87.299782, 40.456275, 0.004500, 15}},
+ {{2653.276298, 85.824893, 95.677786, 0.1},
+ {2655.140892, 86.124763, 39.124360, 0.004500, 15}},
+ {{2661.800350, 84.656946, 94.578723, 0.1},
+ {2663.694846, 84.954979, 37.775662, 0.004500, 15}},
+ {{2670.207848, 83.493807, 93.486471, 0.1},
+ {2672.132080, 83.790326, 36.409646, 0.004000, 13}},
+ {{2678.499269, 82.335394, 92.400999, 0.1},
+ {2680.453100, 82.630705, 35.026106, 0.004000, 13}},
+ {{2686.675545, 81.190866, 91.333090, 0.1},
+ {2688.658406, 81.476016, 34.382681, 0.004000, 13}},
+ {{2694.737585, 80.050628, 90.271622, 0.1},
+ {2696.748485, 80.326164, 33.745383, 0.004000, 13}},
+ {{2702.685811, 78.914571, 89.216537, 0.1},
+ {2700.750465, 79.753021, 0.000000, 0.000000, 0}},
+ {{2710.520635, 77.782587, 88.167786, 0.1},
+ {2708.668599, 78.610244, 0.000000, 0.000000, 0}},
+ {{2718.244674, 76.698652, 87.177631, 0.1},
+ {2716.472686, 77.472068, 0.000000, 0.000000, 0}},
+ {{2725.860456, 75.617439, 86.192585, 0.1},
+ {2724.163181, 76.338400, 0.000000, 0.000000, 0}},
+ {{2733.368175, 74.537122, 85.210554, 0.1},
+ {2731.740532, 75.209151, 0.000000, 0.000000, 0}},
+ {{2740.767967, 73.459160, 84.233359, 0.1},
+ {2739.205174, 74.084232, 2.638818, 0.000000, 0}},
+ {{2748.060095, 72.383840, 83.261426, 0.1},
+ {2746.557537, 72.963557, 3.232653, 0.000000, 0}},
+ {{2755.244822, 71.311123, 82.294793, 0.1},
+ {2753.798041, 71.847038, 3.925782, 0.000000, 0}},
+ {{2762.322406, 70.240971, 81.333504, 0.1},
+ {2760.927097, 70.734592, 4.714279, 0.000000, 0}},
+ {{2769.293100, 69.173345, 80.377603, 0.1},
+ {2767.945109, 69.626135, 5.594345, 0.000000, 0}},
+ {{2776.157158, 68.108208, 79.427143, 0.1},
+ {2774.852471, 68.521586, 6.562208, 0.000000, 0}},
+ {{2782.914824, 67.045519, 78.482177, 0.1},
+ {2781.649570, 67.420863, 7.614075, 0.000000, 0}},
+ {{2789.566341, 65.985236, 77.542764, 0.1},
+ {2788.336784, 66.323887, 8.746139, 0.000000, 0}},
+ {{2796.111950, 64.927316, 76.608969, 0.1},
+ {2794.914485, 65.230580, 9.954627, 0.000000, 0}},
+ {{2802.551882, 63.871717, 75.680859, 0.1},
+ {2801.383035, 64.140865, 11.235865, 0.000000, 0}},
+ {{2808.886369, 62.818398, 74.758508, 0.1},
+ {2807.742790, 63.054665, 12.586344, 0.000000, 0}},
+ {{2815.115636, 61.767318, 73.841996, 0.1},
+ {2813.994097, 61.971905, 14.002770, 0.000000, 0}},
+ {{2821.239906, 60.718440, 72.931408, 0.1},
+ {2820.137297, 60.892512, 15.482087, 0.001000, 3}},
+ {{2827.259396, 59.671727, 72.026834, 0.1},
+ {2826.172723, 59.816412, 17.021470, 0.002500, 8}},
+ {{2833.174044, 58.621604, 71.121232, 0.1},
+ {2832.100700, 58.743534, 18.163957, 0.003500, 11}},
+ {{2838.983308, 57.564111, 70.209511, 0.1},
+ {2837.921548, 57.673807, 18.557488, 0.004000, 13}},
+ {{2844.686607, 56.502319, 69.295655, 0.1},
+ {2843.635577, 56.607161, 18.407003, 0.004500, 15}},
+ {{2850.283663, 55.439136, 68.383536, 0.1},
+ {2849.243093, 55.543527, 17.919713, 0.004500, 15}},
+ {{2855.774270, 54.373463, 67.471945, 0.1},
+ {2854.744393, 54.482838, 16.989111, 0.004000, 13}},
+ {{2861.158442, 53.310395, 66.567992, 0.1},
+ {2860.139768, 53.425025, 16.011311, 0.004000, 13}},
+ {{2866.436640, 52.253928, 65.677398, 0.1},
+ {2865.429503, 52.370024, 15.317990, 0.004000, 13}},
+ {{2871.609301, 51.199672, 64.794534, 0.1},
+ {2870.613876, 51.317768, 14.573491, 0.003500, 11}},
+ {{2876.676648, 50.147640, 63.919552, 0.1},
+ {2875.693158, 50.268194, 13.781458, 0.003500, 11}},
+ {{2881.639061, 49.100977, 63.056873, 0.1},
+ {2880.667613, 49.221238, 13.202782, 0.003000, 9}},
+ {{2886.496920, 48.056611, 62.202318, 0.1},
+ {2885.537501, 48.176836, 12.604339, 0.003000, 9}},
+ {{2891.250636, 47.018088, 61.360933, 0.1},
+ {2890.303074, 47.134928, 12.280825, 0.003000, 9}},
+ {{2895.900617, 45.981928, 60.527937, 0.1},
+ {2894.964578, 46.095452, 11.968529, 0.003500, 11}},
+ {{2900.447101, 44.948158, 59.703518, 0.1},
+ {2899.522253, 45.058347, 11.674383, 0.003500, 11}},
+ {{2904.890167, 43.913570, 58.883223, 0.1},
+ {2903.976334, 44.023555, 11.140163, 0.003500, 11}},
+ {{2909.229897, 42.881424, 58.072049, 0.1},
+ {2908.327049, 42.991016, 10.622481, 0.003000, 9}},
+ {{2913.466530, 41.851616, 57.270212, 0.1},
+ {2912.574619, 41.960672, 10.118410, 0.003000, 9}},
+ {{2917.600434, 40.826803, 56.482155, 0.1},
+ {2916.719263, 40.932466, 9.851340, 0.003000, 9}},
+ {{2921.631953, 39.803918, 55.703792, 0.1},
+ {2920.761191, 39.906341, 9.588696, 0.003500, 11}},
+ {{2925.561287, 38.783108, 54.935412, 0.1},
+ {2924.700607, 38.882242, 9.346359, 0.003500, 11}},
+ {{2929.388524, 37.762009, 54.173486, 0.1},
+ {2928.537713, 37.860112, 8.935239, 0.003500, 11}},
+ {{2933.113764, 36.743153, 53.422213, 0.1},
+ {2932.272702, 36.839897, 8.556173, 0.003500, 11}},
+ {{2936.737228, 35.726506, 52.681892, 0.1},
+ {2935.905762, 35.821543, 8.212388, 0.003500, 11}},
+ {{2940.259136, 34.711992, 51.952833, 0.1},
+ {2939.437078, 34.804997, 7.903881, 0.003500, 11}},
+ {{2943.679695, 33.699509, 51.235358, 0.1},
+ {2942.866827, 33.790206, 7.628086, 0.003500, 11}},
+ {{2946.999101, 32.688846, 50.529650, 0.1},
+ {2946.195183, 32.777117, 7.373489, 0.003500, 11}},
+ {{2950.217493, 31.679292, 49.835035, 0.1},
+ {2950.997969, 31.260565, 12.867386, 0.010000, 41}},
+ {{2953.335016, 30.671441, 49.153096, 0.1},
+ {2954.073563, 30.251509, 12.283864, 0.010000, 48}},
+ {{2956.350647, 29.641635, 48.441400, 0.1},
+ {2957.048328, 29.243979, 11.696148, 0.010000, 48}},
+ {{2959.263303, 28.611932, 47.739490, 0.1},
+ {2959.922414, 28.237924, 11.123138, 0.010000, 48}},
+ {{2962.073123, 27.584913, 47.052590, 0.1},
+ {2962.695966, 27.233296, 10.566719, 0.010000, 48}},
+ {{2964.780373, 26.560521, 46.381113, 0.1},
+ {2965.369125, 26.230046, 10.026509, 0.010000, 48}},
+ {{2967.385314, 25.538714, 45.725492, 0.1},
+ {2967.942025, 25.228128, 9.502122, 0.010000, 48}},
+ {{2969.888201, 24.519460, 45.086174, 0.1},
+ {2970.414798, 24.227493, 8.993173, 0.010000, 48}},
+ {{2972.289290, 23.502736, 44.463621, 0.1},
+ {2972.787570, 23.228095, 8.499271, 0.010000, 48}},
+ {{2974.588832, 22.488518, 43.858309, 0.1},
+ {2975.060462, 22.229890, 8.020013, 0.010000, 48}},
+ {{2976.787076, 21.476777, 43.270725, 0.1},
+ {2977.233591, 21.232831, 7.554990, 0.010000, 48}},
+ {{2978.884269, 20.467481, 42.701369, 0.1},
+ {2979.307070, 20.236874, 7.103775, 0.010000, 48}},
+ {{2980.880652, 19.460587, 42.150748, 0.1},
+ {2981.281006, 19.241976, 6.665932, 0.010000, 48}},
+ {{2982.776464, 18.456044, 41.619378, 0.1},
+ {2983.155503, 18.248095, 6.241007, 0.010000, 48}},
+ {{2984.571937, 17.453792, 41.107781, 0.1},
+ {2984.930661, 17.255187, 5.828534, 0.010000, 48}},
+ {{2986.267297, 16.453765, 40.616482, 0.1},
+ {2986.606575, 16.263212, 5.428031, 0.010000, 48}},
+ {{2987.862762, 15.455888, 40.146011, 0.1},
+ {2988.183337, 15.272130, 5.039001, 0.010000, 48}},
+ {{2989.358540, 14.460001, 39.696907, 0.1},
+ {2989.661033, 14.281903, 4.660909, 0.010000, 48}},
+ {{2990.754830, 13.466130, 39.269688, 0.1},
+ {2991.039748, 13.292492, 4.293264, 0.010000, 48}},
+ {{2992.051832, 12.474233, 38.864869, 0.1},
+ {2992.319561, 12.303862, 3.935539, 0.010000, 48}},
+ {{2993.249740, 11.484250, 38.482958, 0.1},
+ {2993.500549, 11.315977, 3.587188, 0.010000, 48}},
+ {{2994.348743, 10.496116, 38.124445, 0.1},
+ {2994.582783, 10.328804, 3.247651, 0.010000, 48}},
+ {{2995.349023, 9.509767, 37.789806, 0.1},
+ {2995.566335, 9.342312, 2.916352, 0.010000, 48}},
+ {{2996.250754, 8.525139, 37.479491, 0.1},
+ {2996.451270, 8.356472, 2.592704, 0.010000, 48}},
+ {{2997.054106, 7.542171, 37.193927, 0.1},
+ {2997.237653, 7.371257, 2.276107, 0.010000, 48}},
+ {{2997.759242, 6.560805, 36.933508, 0.1},
+ {2997.593906, 6.878876, 0.000000, 0.000000, 18}},
+ {{2998.366319, 5.580987, 36.698594, 0.1},
+ {2998.232574, 5.894551, 0.000000, 0.000000, 0}},
+ {{2998.875647, 4.605733, 36.513507, 0.1},
+ {2998.772838, 4.910794, 0.000000, 0.000000, 0}},
+ {{2999.287586, 3.633139, 36.370710, 0.1},
+ {2999.214753, 3.927587, 0.000000, 0.000000, 0}},
+ {{2999.602292, 2.661052, 36.253879, 0.1},
+ {2999.558375, 2.944913, 0.000000, 0.000000, 0}},
+ {{2999.819812, 1.689438, 36.163201, 0.1},
+ {2999.803756, 1.962763, 0.000000, 0.000000, 0}},
+ {{2999.940194, 0.718271, 36.098808, 0.1},
+ {2999.950947, 0.981127, 0.000000, 0.000000, 0}},
+ {{2999.963481, -0.252449, 36.060779, 0.1},
+ {2999.950947, 0.981127, 0.000000, 0.000000, 0}},
+};
diff --git a/src/tests/catch/ada/ada_kalman_p/test-ada-data.cpp b/src/tests/catch/ada/ada_kalman_p/test-ada-data.cpp
index 940039cbb98f0f341d0e0fa80c36a39c46e05505..a9494b8152dc786ead418819a4762645313df10c 100644
--- a/src/tests/catch/ada/ada_kalman_p/test-ada-data.cpp
+++ b/src/tests/catch/ada/ada_kalman_p/test-ada-data.cpp
@@ -22,7 +22,7 @@
*/
#include "test-ada-data.h"
-const float SIMULATED_PRESSURE[DATA_SIZE] = {
+const float ADA_SIMULATED_PRESSURE[DATA_SIZE] = {
85431.242948f, 85431.195530f, 85430.531818f, 85428.511661f, 85424.541375f, 85418.586756f, 85410.484742f, 85400.380605f, 85387.951291f, 85373.412847f, 85356.530561f, 85337.302634f, 85315.693843f, 85291.654118f, 85265.156486f, 85236.179384f, 85204.699993f, 85170.715288f, 85134.214699f, 85095.204539f, 85053.713878f, 85009.692280f, 84963.342580f, 84914.537170f, 84863.342981f, 84809.942661f, 84754.307845f, 84696.606779f, 84636.840947f, 84575.108256f, 84511.411803f, 84445.886248f, 84378.531812f, 84309.408539f, 84238.575457f, 84166.083903f, 84091.993574f, 84016.326350f, 83939.283495f, 83860.838930f, 83781.113349f, 83700.192751f, 83618.160747f, 83535.097047f, 83451.069870f, 83366.139284f, 83280.348743f, 83193.731035f, 83106.324146f, 83018.168763f,
82929.332706f, 82839.907721f, 82749.980821f, 82659.659037f, 82569.047818f, 82478.250367f, 82387.372687f, 82296.514121f, 82205.765806f, 82115.204232f, 82024.866544f, 81934.773692f, 81844.948233f, 81755.416882f, 81666.211710f, 81577.355814f, 81488.856279f, 81400.744909f, 81313.024685f, 81225.725720f, 81138.858951f, 81052.432671f, 80966.442916f, 80880.879969f, 80795.733506f, 80710.993461f, 80626.652792f, 80542.709300f, 80459.154952f, 80376.001162f, 80293.249194f, 80210.902104f, 80128.967362f, 80047.445669f, 79966.333243f, 79885.651990f, 79805.357504f, 79725.473811f, 79645.974136f, 79566.865375f, 79488.136895f, 79409.786770f, 79331.813688f, 79254.217678f, 79177.018164f, 79100.171172f, 79023.724092f, 78947.664215f, 78871.990160f, 78796.711133f,
78721.810653f, 78647.294473f, 78573.155658f, 78499.389033f, 78425.989137f, 78352.953270f, 78280.274531f, 78207.954674f, 78135.994226f, 78064.391522f, 77993.148588f, 77922.267607f, 77851.747240f, 77781.592871f, 77711.801941f, 77642.368219f, 77573.321504f, 77504.601044f, 77436.249004f, 77368.249493f, 77300.601718f, 77233.292329f, 77166.332527f, 77099.709056f, 77033.429981f, 76967.488574f, 76901.887521f, 76836.627276f, 76771.707698f, 76707.131456f, 76642.893513f, 76578.999459f, 76515.448480f, 76452.236220f, 76389.362923f, 76326.825701f, 76264.622110f, 76202.749523f, 76141.205158f, 76079.986697f, 76019.092066f, 75958.519777f, 75898.268885f, 75838.338743f, 75778.729023f, 75719.439688f, 75660.470760f, 75601.822193f, 75543.497084f, 75485.490333f,
@@ -122,7 +122,7 @@ const float SIMULATED_PRESSURE[DATA_SIZE] = {
84580.016493f, 84580.873337f, 84581.729482f, 84582.585353f, 84583.441370f, 84584.297956f, 84585.155471f, 84586.013678f, 84586.872320f, 84587.731198f, 84588.590112f, 84589.448860f, 84590.307243f, 84591.165128f, 84592.022639f, 84592.879929f, 84593.737152f, 84594.594460f, 84595.452004f, 84596.309938f, 84597.168345f, 84598.027100f, 84598.886042f, 84599.745009f, 84600.603838f, 84601.462368f, 84602.320435f, 84603.178003f, 84604.035255f, 84604.892387f, 84605.749595f, 84606.607077f, 84607.465029f, 84608.324161f, 84609.184816f, 84610.046054f, 84610.906919f, 84611.766456f, 84612.623711f, 84613.477537
};
-const float SIMULATED_PRESSURE_SPEED[] = {
+const float ADA_SIMULATED_PRESSURE_SPEED[] = {
-0.948363f, -0.948363f, -13.274254f, -40.403141f, -79.405710f, -119.092389f, -162.040265f, -202.082736f, -248.586283f, -290.768883f, -337.645715f, -384.558541f, -432.175827f, -480.794502f, -529.952635f, -579.542043f, -629.587822f, -679.694102f, -730.011778f, -780.203192f, -829.813236f, -880.431945f, -926.994001f, -976.108202f, -1023.883786f, -1068.006391f, -1112.696323f, -1154.021320f, -1195.316651f, -1234.653809f, -1273.929067f, -1310.511099f, -1347.088722f, -1382.465466f, -1416.661632f, -1449.831084f, -1481.806571f, -1513.344488f, -1540.857087f, -1568.891304f, -1594.511632f, -1618.411951f, -1640.640080f, -1661.274003f, -1680.543531f, -1698.611728f, -1715.810816f, -1732.354168f, -1748.137780f, -1763.107652f,
-1776.721145f, -1788.499697f, -1798.538005f, -1806.435685f, -1812.224381f, -1815.949022f, -1817.553582f, -1817.171319f, -1814.966301f, -1811.231493f, -1806.753756f, -1801.857044f, -1796.509169f, -1790.627019f, -1784.103445f, -1777.117924f, -1769.990709f, -1762.227380f, -1754.404480f, -1745.979311f, -1737.335373f, -1728.525613f, -1719.795091f, -1711.258934f, -1702.929259f, -1694.800914f, -1686.813373f, -1678.869836f, -1671.086967f, -1663.075796f, -1655.039355f, -1646.941808f, -1638.694844f, -1630.433859f, -1622.248517f, -1613.625054f, -1605.889735f, -1597.673857f, -1589.993489f, -1582.175234f, -1574.569597f, -1567.002497f, -1559.461641f, -1551.920197f, -1543.990283f, -1536.939837f, -1528.941596f, -1521.197540f, -1513.481103f, -1505.580544f,
-1498.009587f, -1490.323611f, -1482.776293f, -1475.332504f, -1467.997921f, -1460.717334f, -1453.574783f, -1446.397141f, -1439.208953f, -1432.054093f, -1424.858679f, -1417.619623f, -1410.407338f, -1403.087371f, -1395.818595f, -1388.674458f, -1380.934283f, -1374.409215f, -1367.040802f, -1359.990206f, -1352.955497f, -1346.187796f, -1339.196030f, -1332.469424f, -1325.581498f, -1318.828149f, -1312.021043f, -1305.204915f, -1298.391547f, -1291.524853f, -1284.758862f, -1277.881065f, -1271.019585f, -1264.245204f, -1257.465943f, -1250.744429f, -1244.071819f, -1237.451756f, -1230.887296f, -1224.369212f, -1217.892631f, -1211.445773f, -1205.017845f, -1198.602846f, -1192.194381f, -1185.786708f, -1179.378571f, -1172.971336f, -1166.502184f, -1160.135006f,
@@ -223,7 +223,7 @@ const float SIMULATED_PRESSURE_SPEED[] = {
};
/*
-const float SIMULATED_NOISY_PRESSURE[DATA_SIZE] = {85440.0f, 85440.0f, 85410.0f, 85440.0f, 85440.0f, 85410.0f, 85410.0f, 85410.0f, 85380.0f, 85380.0f, 85350.0f, 85350.0f, 85320.0f, 85290.0f, 85260.0f, 85230.0f, 85200.0f, 85170.0f, 85140.0f, 85110.0f, 85050.0f, 85020.0f, 84960.0f, 84930.0f, 84870.0f, 84810.0f, 84750.0f, 84690.0f, 84630.0f, 84570.0f, 84510.0f, 84450.0f, 84390.0f, 84300.0f, 84240.0f, 84150.0f, 84090.0f, 84030.0f, 83940.0f, 83850.0f, 83790.0f, 83700.0f, 83610.0f, 83520.0f, 83460.0f, 83370.0f, 83280.0f, 83190.0f, 83100.0f, 83010.0f,
+const float ADA_SIMULATED_NOISY_PRESSURE[DATA_SIZE] = {85440.0f, 85440.0f, 85410.0f, 85440.0f, 85440.0f, 85410.0f, 85410.0f, 85410.0f, 85380.0f, 85380.0f, 85350.0f, 85350.0f, 85320.0f, 85290.0f, 85260.0f, 85230.0f, 85200.0f, 85170.0f, 85140.0f, 85110.0f, 85050.0f, 85020.0f, 84960.0f, 84930.0f, 84870.0f, 84810.0f, 84750.0f, 84690.0f, 84630.0f, 84570.0f, 84510.0f, 84450.0f, 84390.0f, 84300.0f, 84240.0f, 84150.0f, 84090.0f, 84030.0f, 83940.0f, 83850.0f, 83790.0f, 83700.0f, 83610.0f, 83520.0f, 83460.0f, 83370.0f, 83280.0f, 83190.0f, 83100.0f, 83010.0f,
82920.0f, 82860.0f, 82740.0f, 82650.0f, 82560.0f, 82470.0f, 82380.0f, 82290.0f, 82200.0f, 82110.0f, 82020.0f, 81930.0f, 81840.0f, 81750.0f, 81660.0f, 81570.0f, 81510.0f, 81390.0f, 81300.0f, 81240.0f, 81120.0f, 81060.0f, 80970.0f, 80880.0f, 80790.0f, 80700.0f, 80640.0f, 80550.0f, 80460.0f, 80370.0f, 80280.0f, 80220.0f, 80130.0f, 80040.0f, 79980.0f, 79890.0f, 79800.0f, 79710.0f, 79650.0f, 79560.0f, 79500.0f, 79410.0f, 79320.0f, 79260.0f, 79170.0f, 79110.0f, 79020.0f, 78930.0f, 78870.0f, 78810.0f,
78720.0f, 78630.0f, 78570.0f, 78510.0f, 78420.0f, 78360.0f, 78300.0f, 78210.0f, 78120.0f, 78060.0f, 78000.0f, 77940.0f, 77850.0f, 77790.0f, 77700.0f, 77640.0f, 77580.0f, 77490.0f, 77430.0f, 77370.0f, 77310.0f, 77250.0f, 77160.0f, 77100.0f, 77040.0f, 76950.0f, 76920.0f, 76830.0f, 76770.0f, 76710.0f, 76650.0f, 76590.0f, 76530.0f, 76440.0f, 76380.0f, 76320.0f, 76260.0f, 76200.0f, 76140.0f, 76080.0f, 76020.0f, 75960.0f, 75900.0f, 75840.0f, 75780.0f, 75720.0f, 75660.0f, 75600.0f, 75540.0f, 75480.0f,
75420.0f, 75360.0f, 75330.0f, 75270.0f, 75210.0f, 75150.0f, 75090.0f, 75030.0f, 74970.0f, 74910.0f, 74880.0f, 74820.0f, 74760.0f, 74700.0f, 74670.0f, 74610.0f, 74550.0f, 74490.0f, 74460.0f, 74400.0f, 74340.0f, 74280.0f, 74220.0f, 74190.0f, 74130.0f, 74070.0f, 74040.0f, 73980.0f, 73920.0f, 73890.0f, 73830.0f, 73800.0f, 73740.0f, 73710.0f, 73650.0f, 73590.0f, 73560.0f, 73500.0f, 73470.0f, 73410.0f, 73350.0f, 73320.0f, 73260.0f, 73230.0f, 73200.0f, 73140.0f, 73110.0f, 73050.0f, 73020.0f, 72990.0f,
diff --git a/src/tests/catch/ada/ada_kalman_p/test-ada-data.h b/src/tests/catch/ada/ada_kalman_p/test-ada-data.h
index 69d8d8a238651aa0f375ecd68e1fa676af675af1..1737bd7528e42cd2517e3df11f41fe390b3125db 100644
--- a/src/tests/catch/ada/ada_kalman_p/test-ada-data.h
+++ b/src/tests/catch/ada/ada_kalman_p/test-ada-data.h
@@ -24,6 +24,6 @@
#pragma once
static const unsigned DATA_SIZE = 4840;
-extern const float SIMULATED_PRESSURE[DATA_SIZE];
-extern const float SIMULATED_PRESSURE_SPEED[DATA_SIZE];
-// extern const float SIMULATED_NOISY_PRESSURE[DATA_SIZE];
\ No newline at end of file
+extern const float ADA_SIMULATED_PRESSURE[DATA_SIZE];
+extern const float ADA_SIMULATED_PRESSURE_SPEED[DATA_SIZE];
+// extern const float ADA_SIMULATED_NOISY_PRESSURE[DATA_SIZE];
\ No newline at end of file
diff --git a/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp b/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
index 34cf5be609905f7b93182a9c0ccad3b2182574ee..559f1b7598d22eca383300ad898d3ece454bbfc4 100644
--- a/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
+++ b/src/tests/catch/ada/ada_kalman_p/test-ada-simulation.cpp
@@ -72,17 +72,17 @@ public:
if (before_liftoff)
{
- press = addNoise(SIMULATED_PRESSURE[0]);
+ press = addNoise(ADA_SIMULATED_PRESSURE[0]);
}
else
{
if (i < DATA_SIZE)
{
- press = addNoise(SIMULATED_PRESSURE[i++]);
+ press = addNoise(ADA_SIMULATED_PRESSURE[i++]);
}
else
{
- press = addNoise(SIMULATED_PRESSURE[DATA_SIZE - 1]);
+ press = addNoise(ADA_SIMULATED_PRESSURE[DATA_SIZE - 1]);
}
}
@@ -123,20 +123,20 @@ void checkState(unsigned int i, ADAKalmanState state)
{
if (i > 200)
{
- if (state.x0 == Approx(SIMULATED_PRESSURE[i]).margin(70))
+ if (state.x0 == Approx(ADA_SIMULATED_PRESSURE[i]).margin(70))
SUCCEED();
else
FAIL("i = " << i << "\t\t" << state.x0
- << " != " << SIMULATED_PRESSURE[i]);
+ << " != " << ADA_SIMULATED_PRESSURE[i]);
// Flying under the chutes the speed estimation is not very precise
if (i < 3000)
{
- if (state.x1 == Approx(SIMULATED_PRESSURE_SPEED[i]).margin(80))
+ if (state.x1 == Approx(ADA_SIMULATED_PRESSURE_SPEED[i]).margin(80))
SUCCEED();
else
FAIL("i = " << i << "\t\t" << state.x1
- << " != " << SIMULATED_PRESSURE_SPEED[i]);
+ << " != " << ADA_SIMULATED_PRESSURE_SPEED[i]);
}
}
}
@@ -173,7 +173,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
}
float mean = ada_controller->calibrator.getReferenceValues().ref_pressure;
- if (mean == Approx(SIMULATED_PRESSURE[0]))
+ if (mean == Approx(ADA_SIMULATED_PRESSURE[0]))
FAIL("Calibration value");
else
SUCCEED();
@@ -227,7 +227,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
// false apogee)
for (unsigned i = 0; i < SHADOW_MODE_END_INDEX; i++)
{
- // float noisy_p = addNoise(SIMULATED_PRESSURE[i]);
+ // float noisy_p = addNoise(ADA_SIMULATED_PRESSURE[i]);
mock_baro.sample();
Thread::sleep(5);
ada_controller->update();
@@ -249,7 +249,7 @@ TEST_CASE("Testing ada_controller from calibration to first descent phase")
bool apogee_checked = false;
for (unsigned i = SHADOW_MODE_END_INDEX; i < DATA_SIZE; i++)
{
- // float noisy_p = addNoise(SIMULATED_PRESSURE[i]);
+ // float noisy_p = addNoise(ADA_SIMULATED_PRESSURE[i]);
mock_baro.sample();
Thread::sleep(5);
ada_controller->update();
diff --git a/src/tests/catch/fsm/test-aerobrakes.cpp b/src/tests/catch/fsm/test-aerobrakes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b43d21f08c51bc0db648b0a4c90d3a6e911816cf
--- /dev/null
+++ b/src/tests/catch/fsm/test-aerobrakes.cpp
@@ -0,0 +1,205 @@
+/*
+ * Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifdef STANDALONE_CATCH1_TEST
+#include "catch/catch-tests-entry.cpp"
+#endif
+
+// We need access to the handleEvent(...) function in state machines in order to
+// test them synchronously
+#define protected public
+
+#include <miosix.h>
+
+#include <utils/testutils/catch.hpp>
+
+#include "AeroBrakesController/AeroBrakesController.h"
+#include "AeroBrakesController/AeroBrakesServo.h"
+#include "configs/AeroBrakesConfig.h"
+#include "events/Events.h"
+#include "utils/testutils/TestHelper.h"
+
+using miosix::Thread;
+using namespace DeathStackBoard;
+
+class InputClass
+{
+public:
+ float z;
+ float vz;
+ float vMod;
+ uint64_t timestamp;
+};
+
+template <typename T>
+class MockSensor : public Sensor<T>
+{
+private:
+ int ts = 0;
+
+protected:
+ T sampleImpl() override
+ {
+ T data;
+ return data;
+ }
+
+ bool init() override { return true; }
+
+ bool selfTest() override { return true; }
+};
+
+class AeroBrakesControllerFixture
+{
+public:
+ // This is called at the beginning of each test / section
+ AeroBrakesControllerFixture()
+ {
+ controller = new AeroBrakesController<InputClass>(sensor);
+ sEventBroker->start();
+ controller->start();
+ }
+
+ // This is called at the end of each test / section
+ ~AeroBrakesControllerFixture()
+ {
+ controller->stop();
+ sEventBroker->unsubscribe(controller);
+ sEventBroker->clearDelayedEvents();
+ delete controller;
+ }
+
+protected:
+ AeroBrakesController<InputClass>* controller;
+
+ MockSensor<InputClass> sensor;
+};
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture,
+ "Testing transitions from initialization")
+{
+ controller->transition(
+ &AeroBrakesController<InputClass>::state_initialization);
+
+ REQUIRE(
+ controller->testState(&AeroBrakesController<InputClass>::state_idle));
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture, "Testing transitions from idle")
+{
+ controller->transition(&AeroBrakesController<InputClass>::state_idle);
+
+ SECTION("EV_LIFTOFF -> SHADOW_MODE")
+ {
+ REQUIRE(testFSMTransition(
+ *controller, {EV_LIFTOFF},
+ &AeroBrakesController<InputClass>::state_shadowMode));
+ }
+
+ SECTION("EV_WIGGLE_SERVO -> IDLE")
+ {
+ REQUIRE(
+ testFSMTransition(*controller, {EV_WIGGLE_SERVO},
+ &AeroBrakesController<InputClass>::state_idle));
+ }
+
+ SECTION("EV_RESET_SERVO -> IDLE")
+ {
+ REQUIRE(
+ testFSMTransition(*controller, {EV_RESET_SERVO},
+ &AeroBrakesController<InputClass>::state_idle));
+ }
+
+ SECTION("EV_TEST_ABK -> TEST_AEROBRAKES")
+ {
+ REQUIRE(testFSMTransition(
+ *controller, {EV_TEST_ABK},
+ &AeroBrakesController<InputClass>::state_testAerobrakes));
+ }
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture,
+ "Testing transitions from shadow_mode")
+{
+ controller->transition(
+ &AeroBrakesController<InputClass>::state_shadowMode);
+
+ SECTION("EV_SHADOW_MODE_TIMEOUT -> ENABLED")
+ {
+ REQUIRE(testFSMTransition(
+ *controller, {EV_SHADOW_MODE_TIMEOUT},
+ &AeroBrakesController<InputClass>::state_enabled));
+ }
+
+ SECTION("EV_DISABLE_ABK -> DISABLED")
+ {
+ REQUIRE(testFSMTransition(
+ *controller, {EV_DISABLE_ABK},
+ &AeroBrakesController<InputClass>::state_disabled));
+ }
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture,
+ "Testing transitions from enabled")
+{
+ controller->transition(&AeroBrakesController<InputClass>::state_enabled);
+
+ SECTION("EV_APOGEE -> END")
+ {
+ REQUIRE(
+ testFSMTransition(*controller, {EV_APOGEE},
+ &AeroBrakesController<InputClass>::state_end));
+ }
+
+ SECTION("EV_DISABLE_ABK -> DISABLED")
+ {
+ REQUIRE(testFSMTransition(
+ *controller, {EV_DISABLE_ABK},
+ &AeroBrakesController<InputClass>::state_disabled));
+ }
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture, "Testing transitions from end")
+{
+ controller->transition(&AeroBrakesController<InputClass>::state_end);
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture,
+ "Testing transitions from disabled")
+{
+ controller->transition(&AeroBrakesController<InputClass>::state_disabled);
+}
+
+TEST_CASE_METHOD(AeroBrakesControllerFixture,
+ "Testing transitions from test_aerobrakes")
+{
+ controller->transition(
+ &AeroBrakesController<InputClass>::state_testAerobrakes);
+
+ SECTION("EV_TEST_TIMEOUT -> IDLE")
+ {
+ REQUIRE(
+ testFSMTransition(*controller, {EV_TEST_TIMEOUT},
+ &AeroBrakesController<InputClass>::state_idle));
+ }
+}
\ No newline at end of file
diff --git a/src/tests/mock_sensors/test-mock-data.cpp b/src/tests/mock_sensors/test-mock-data.cpp
index 90e768b0296728b96537545224b214fad9374841..f5f08f35f8fe18f09e1de90be7ca89ba702ff8b5 100644
--- a/src/tests/mock_sensors/test-mock-data.cpp
+++ b/src/tests/mock_sensors/test-mock-data.cpp
@@ -22,7 +22,7 @@
* IN THE SOFTWARE.
*/
#include "test-mock-data.h"
-/*
+
const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE] = {
85431.2429484683, 85430.6695060933, 85428.1328530587, 85423.2079044552,
85415.8936319942, 85406.0939791952, 85393.7323461432, 85378.8122328271,
@@ -1098,7 +1098,7 @@ const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE] = {
85410.5612028571, 85412.5781016313, 85414.5950004054, 85416.6119137141,
85418.6291353124, 85420.6463569106, 85422.6635785088, 85424.680800107,
85426.6980217052, 85428.7152433034, 85430.7324649016};
-*/
+
const float SIMULATED_LAT[GPS_DATA_SIZE] = {
41.809017, 41.8090170467145, 41.8090172305643, 41.8090175635122,
41.8090180361511, 41.8090184858135, 41.8090189345961, 41.8090196645904,
diff --git a/src/tests/mock_sensors/test-mock-data.h b/src/tests/mock_sensors/test-mock-data.h
index 27d06fed011156fea0faa839143bf9c086fda841..9d5d4797958cd1b2e857248ef4816d9ccedf6df1 100644
--- a/src/tests/mock_sensors/test-mock-data.h
+++ b/src/tests/mock_sensors/test-mock-data.h
@@ -26,6 +26,6 @@
static const unsigned PRESSURE_DATA_SIZE = 4295;
static const unsigned GPS_DATA_SIZE = 2148;
-//extern const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE];
+extern const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE];
extern const float SIMULATED_LAT[GPS_DATA_SIZE];
extern const float SIMULATED_LON[GPS_DATA_SIZE];
\ No newline at end of file