diff --git a/skyward-boardcore b/skyward-boardcore
index a68a5319fdc78c8fbd45ee2e614cda19724c6a6c..f57081da20964030a07990dd985afe5c845241f4 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit a68a5319fdc78c8fbd45ee2e614cda19724c6a6c
+Subproject commit f57081da20964030a07990dd985afe5c845241f4
diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h
index cca2faaeee649ab3c38c7975eea69a0c9b665714..8b573793b7716a6af5733e4f697b3b5c5c455bdc 100644
--- a/src/boards/Parafoil/Configs/SensorsConfig.h
+++ b/src/boards/Parafoil/Configs/SensorsConfig.h
@@ -24,16 +24,19 @@
#include <drivers/adc/InternalADC.h>
#include <drivers/usart/USART.h>
#include <interfaces-impl/hwmapping.h>
-#include <sensors/ADS1118/ADS1118.h>
+#include <sensors/ADS131M08/ADS131M08Defs.h>
#include <sensors/BMX160/BMX160Config.h>
+#include <sensors/H3LIS331DL/H3LIS331DL.h>
+// TODO change with H3LIS331DLdef when merge request is merged
#include <sensors/LIS3MDL/LIS3MDL.h>
+#include <sensors/LPS22DF/LPS22DF.h>
#include <sensors/calibration/AxisOrientation.h>
namespace Parafoil
{
namespace SensorsConfig
{
-constexpr unsigned int NUMBER_OF_SENSORS = 8;
+constexpr unsigned int NUMBER_OF_SENSORS = 9;
constexpr uint32_t MAG_CALIBRATION_PERIOD = 100; // [ms]
// BMX160
@@ -59,6 +62,32 @@ constexpr unsigned int BMX160_ACC_DATA_SIZE = 6;
constexpr unsigned int BMX160_GYRO_DATA_SIZE = 6;
constexpr unsigned int BMX160_MAG_DATA_SIZE = 8;
+// H3LIS331DL
+constexpr Boardcore::H3LIS331DLDefs::OutputDataRate H3LIS331DL_ODR =
+ Boardcore::H3LIS331DLDefs::OutputDataRate::ODR_400;
+constexpr Boardcore::H3LIS331DLDefs::BlockDataUpdate H3LIS331DL_BDU =
+ Boardcore::H3LIS331DLDefs::BlockDataUpdate::BDU_CONTINUOS_UPDATE;
+constexpr Boardcore::H3LIS331DLDefs::FullScaleRange H3LIS331DL_FSR =
+ Boardcore::H3LIS331DLDefs::FullScaleRange::FS_100;
+constexpr uint32_t H3LIS331DL_PERIOD = 10; // [ms] 100Hz
+
+// LPS22DF
+constexpr Boardcore::LPS22DF::AVG LPS22DF_AVG = Boardcore::LPS22DF::AVG_4;
+constexpr Boardcore::LPS22DF::ODR LPS22DF_ODR = Boardcore::LPS22DF::ODR_100;
+constexpr uint32_t LPS22DF_PERIOD = 20; // [ms] 50Hz
+
+// UBXGPS
+constexpr uint8_t UBXGPS_SAMPLE_RATE = 5;
+constexpr uint32_t UBXGPS_PERIOD = 1000 / UBXGPS_SAMPLE_RATE; // [ms]
+
+// ADS
+constexpr Boardcore::ADS131M08Defs::OversamplingRatio
+ ADS131M08_OVERSAMPLING_RATIO =
+ Boardcore::ADS131M08Defs::OversamplingRatio::OSR_8192;
+constexpr bool ADS131M08_GLOBAL_CHOP_MODE = true;
+constexpr uint32_t ADS131M08_PERIOD = 10; // [ms] 100Hz
+//
+
// UNUSED - How many bytes go into the fifo each second
constexpr unsigned int BMX160_FIFO_FILL_RATE =
BMX160_ACC_GYRO_ODR * (BMX160_FIFO_HEADER_SIZE + BMX160_ACC_DATA_SIZE +
@@ -78,35 +107,6 @@ constexpr Boardcore::LIS3MDL::ODR MAG_LIS_ODR = Boardcore::LIS3MDL::ODR_80_HZ;
constexpr Boardcore::LIS3MDL::FullScale MAG_LIS_FULLSCALE =
Boardcore::LIS3MDL::FS_4_GAUSS;
-// ADS1118 and connected sensors
-constexpr Boardcore::ADS1118::ADS1118Mux ADS1118_CH_STATIC_PORT =
- Boardcore::ADS1118::MUX_AIN0_GND;
-constexpr Boardcore::ADS1118::ADS1118DataRate ADS1118_DR_STATIC_PORT =
- Boardcore::ADS1118::DR_860;
-constexpr Boardcore::ADS1118::ADS1118Pga ADS1118_PGA_STATIC_PORT =
- Boardcore::ADS1118::FSR_6_144;
-
-constexpr Boardcore::ADS1118::ADS1118Mux ADS1118_CH_PITOT_PORT =
- Boardcore::ADS1118::MUX_AIN1_GND;
-constexpr Boardcore::ADS1118::ADS1118DataRate ADS1118_DR_PITOT_PORT =
- Boardcore::ADS1118::DR_860;
-constexpr Boardcore::ADS1118::ADS1118Pga ADS1118_PGA_PITOT_PORT =
- Boardcore::ADS1118::FSR_6_144;
-
-constexpr Boardcore::ADS1118::ADS1118Mux ADS1118_CH_DPL_PORT =
- Boardcore::ADS1118::MUX_AIN2_GND;
-constexpr Boardcore::ADS1118::ADS1118DataRate ADS1118_DR_DPL_PORT =
- Boardcore::ADS1118::DR_860;
-constexpr Boardcore::ADS1118::ADS1118Pga ADS1118_PGA_DPL_PORT =
- Boardcore::ADS1118::FSR_6_144;
-
-// MS5803 barometer
-constexpr unsigned int MS5803_TEMP_DIVIDER = 5;
-
-// GPS
-static constexpr int UBXGPS_BAUD_RATE = 460800;
-static constexpr unsigned int UBXGPS_SAMPLE_RATE = 10;
-
// Internal ADC & Battery Voltage
constexpr Boardcore::InternalADC::Channel ADC_BATTERY_VOLTAGE =
Boardcore::InternalADC::Channel::CH5;
@@ -119,11 +119,7 @@ constexpr float BATTERY_VOLTAGE_COEFF = 5.98;
// imprecision, avoid clearing the fifo before the interrupt
constexpr unsigned int BMX160_SAMPLE_PERIOD =
BMX160_FIFO_FILL_TIME * (BMX160_FIFO_WATERMARK + 30) * 4 / 1024; // [ms]
-constexpr unsigned int LIS3MDL_SAMPLE_PERIOD = 15; // [ms]
-constexpr unsigned int MS5803_SAMPLE_PERIOD = 15; // [ms]
-constexpr unsigned int UBXGPS_SAMPLE_PERIOD =
- 1000 / UBXGPS_SAMPLE_RATE; // [ms]
-constexpr unsigned int ADS1118_SAMPLE_PERIOD = 6; // [ms]
+constexpr unsigned int LIS3MDL_SAMPLE_PERIOD = 15;
constexpr unsigned int INTERNAL_ADC_SAMPLE_PERIOD = 1000; // [ms]
constexpr unsigned int INTERNAL_TEMP_SAMPLE_PERIOD = 2000; // [ms]
diff --git a/src/boards/Parafoil/Sensors/Sensors.cpp b/src/boards/Parafoil/Sensors/Sensors.cpp
index 854abae1cf44aa44a5938e367e4ee431ebca34e7..ed9621a30772def2e5c5aeccdfc69100493a12ce 100644
--- a/src/boards/Parafoil/Sensors/Sensors.cpp
+++ b/src/boards/Parafoil/Sensors/Sensors.cpp
@@ -61,20 +61,26 @@ LIS3MDLData Sensors::getLIS3MDLLastSample()
miosix::Lock<FastMutex> l(lis3mdlMutex);
return lis3mdl != nullptr ? lis3mdl->getLastSample() : LIS3MDLData{};
}
-MS5803Data Sensors::getMS5803LastSample()
+H3LIS331DLData Sensors::getH3LISLastSample()
{
- miosix::Lock<FastMutex> l(ms5803Mutex);
- return ms5803 != nullptr ? ms5803->getLastSample() : MS5803Data{};
+ miosix::Lock<FastMutex> l(h3lisMutex);
+ return h3lis331dl != nullptr ? h3lis331dl->getLastSample()
+ : H3LIS331DLData{};
+}
+LPS22DFData Sensors::getLPS22LastSample()
+{
+ miosix::Lock<FastMutex> l(lps22Mutex);
+ return lps22df != nullptr ? lps22df->getLastSample() : LPS22DFData{};
}
UBXGPSData Sensors::getUbxGpsLastSample()
{
miosix::Lock<FastMutex> l(ubxGpsMutex);
return ubxGps != nullptr ? ubxGps->getLastSample() : UBXGPSData{};
}
-ADS1118Data Sensors::getADS1118LastSample()
+ADS131M08Data Sensors::getADS131LastSample()
{
- miosix::Lock<FastMutex> l(ads1118Mutex);
- return ads1118 != nullptr ? ads1118->getLastSample() : ADS1118Data{};
+ miosix::Lock<FastMutex> l(ads131Mutex);
+ return ads131 != nullptr ? ads131->getLastSample() : ADS131M08Data{};
}
InternalADCData Sensors::getInternalADCLastSample()
{
@@ -118,9 +124,10 @@ bool Sensors::start()
bmx160Init();
bmx160WithCorrectionInit();
lis3mdlInit();
- ms5803Init();
+ h3lisInit();
+ lps22Init();
ubxGpsInit();
- ads1118Init();
+ ads131Init();
internalADCInit();
batteryVoltageInit();
@@ -266,73 +273,109 @@ void Sensors::lis3mdlInit()
LOG_INFO(logger, "LIS3MDL setup done!");
}
-void Sensors::ms5803Init()
+void Sensors::h3lisInit()
{
+
ModuleManager& modules = ModuleManager::getInstance();
- SPIBusConfig spiConfig{};
- spiConfig.mode = SPI::Mode::MODE_3;
- spiConfig.clockDivider = SPI::ClockDivider::DIV_16;
+ // Get the correct SPI configuration
+ SPIBusConfig config = H3LIS331DL::getDefaultSPIConfig();
+ config.clockDivider = SPI::ClockDivider::DIV_16;
- ms5803 = new MS5803(modules.get<Buses>()->spi1,
- miosix::sensors::ms5803::cs::getPin(), spiConfig,
- MS5803_TEMP_DIVIDER);
+ // Create sensor instance with configured parameters
+ h3lis331dl = new H3LIS331DL(
+ modules.get<Buses>()->spi1, miosix::sensors::h3lis331dl::cs::getPin(),
+ config, H3LIS331DL_ODR, H3LIS331DL_BDU, H3LIS331DL_FSR);
- SensorInfo info("MS5803", MS5803_SAMPLE_PERIOD,
- bind(&Sensors::ms5803Callback, this));
- sensorMap.emplace(make_pair(ms5803, info));
+ // Emplace the sensor inside the map
+ SensorInfo info("H3LIS331DL", H3LIS331DL_PERIOD,
+ bind(&Sensors::h3lisCallback, this));
+ sensorMap.emplace(make_pair(h3lis331dl, info));
- auto ms5803Status =
- ([&]() -> SensorInfo { return manager->getSensorInfo(ms5803); });
- sensorsInit[sensorsCounter++] = ms5803Status;
+ // used for the sensor state
+ auto h3lis331Status =
+ ([&]() -> SensorInfo { return manager->getSensorInfo(h3lis331dl); });
+ sensorsInit[sensorsCounter++] = h3lis331Status;
+}
+void Sensors::lps22Init()
- LOG_INFO(logger, "MS5803 setup done!");
+{
+ ModuleManager& modules = ModuleManager::getInstance();
+
+ // Get the correct SPI configuration
+ SPIBusConfig config = LPS22DF::getDefaultSPIConfig();
+ config.clockDivider = SPI::ClockDivider::DIV_16;
+
+ // Configure the device
+ LPS22DF::Config sensorConfig;
+ sensorConfig.avg = LPS22DF_AVG;
+ sensorConfig.odr = LPS22DF_ODR;
+
+ // Create sensor instance with configured parameters
+ lps22df = new LPS22DF(modules.get<Buses>()->spi1,
+ miosix::sensors::lps22df::cs::getPin(), config,
+ sensorConfig);
+
+ // Emplace the sensor inside the map
+ SensorInfo info("LPS22DF", LPS22DF_PERIOD,
+ bind(&Sensors::lps22Callback, this));
+ sensorMap.emplace(make_pair(lps22df, info));
+
+ // used for the sensor state
+ auto lps22Status =
+ ([&]() -> SensorInfo { return manager->getSensorInfo(lps22df); });
+ sensorsInit[sensorsCounter++] = lps22Status;
}
+
void Sensors::ubxGpsInit()
{
- ubxGps =
- new UBXGPSSerial(UBXGPS_BAUD_RATE, UBXGPS_SAMPLE_RATE, USART2, 9600);
+ ModuleManager& modules = ModuleManager::getInstance();
+
+ // Get the correct SPI configuration
+ SPIBusConfig config = UBXGPSSpi::getDefaultSPIConfig();
+ config.clockDivider = SPI::ClockDivider::DIV_64;
+
+ // Create sensor instance with configured parameters
+ ubxGps = new UBXGPSSpi(modules.get<Buses>()->spi1,
+ miosix::sensors::ubxgps::cs::getPin(), config, 5);
- SensorInfo info("UBXGPS", UBXGPS_SAMPLE_PERIOD,
+ // Emplace the sensor inside the map
+ SensorInfo info("UBXGPS", UBXGPS_PERIOD,
bind(&Sensors::ubxGpsCallback, this));
sensorMap.emplace(make_pair(ubxGps, info));
- auto ubxGpsStatus =
+ // used for the sensor state
+ auto ubxStatus =
([&]() -> SensorInfo { return manager->getSensorInfo(ubxGps); });
- sensorsInit[sensorsCounter++] = ubxGpsStatus;
-
- LOG_INFO(logger, "UbloxGPS setup done!");
+ sensorsInit[sensorsCounter++] = ubxStatus;
}
-void Sensors::ads1118Init()
+void Sensors::ads131Init()
{
ModuleManager& modules = ModuleManager::getInstance();
- SPIBusConfig spiConfig = ADS1118::getDefaultSPIConfig();
- spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
-
- ADS1118::ADS1118Config config = ADS1118::ADS1118_DEFAULT_CONFIG;
- config.bits.mode = ADS1118::ADS1118Mode::CONTINUOUS_CONV_MODE;
-
- ads1118 =
- new ADS1118(modules.get<Buses>()->spi1,
- miosix::sensors::ads1118::cs::getPin(), config, spiConfig);
-
- ads1118->enableInput(ADS1118_CH_STATIC_PORT, ADS1118_DR_STATIC_PORT,
- ADS1118_PGA_STATIC_PORT);
- ads1118->enableInput(ADS1118_CH_PITOT_PORT, ADS1118_DR_PITOT_PORT,
- ADS1118_PGA_PITOT_PORT);
- ads1118->enableInput(ADS1118_CH_DPL_PORT, ADS1118_DR_DPL_PORT,
- ADS1118_PGA_DPL_PORT);
-
- SensorInfo info("ADS1118", ADS1118_SAMPLE_PERIOD,
- bind(&Sensors::ads1118Callback, this));
- sensorMap.emplace(make_pair(ads1118, info));
-
- auto ads1118Status =
- ([&]() -> SensorInfo { return manager->getSensorInfo(ads1118); });
- sensorsInit[sensorsCounter++] = ads1118Status;
-
- LOG_INFO(logger, "ADS1118 adc setup done!");
+ // Configure the SPI
+ SPIBusConfig config;
+ config.clockDivider = SPI::ClockDivider::DIV_32;
+
+ // Configure the device
+ ADS131M08::Config sensorConfig;
+ sensorConfig.oversamplingRatio = ADS131M08_OVERSAMPLING_RATIO;
+ sensorConfig.globalChopModeEnabled = ADS131M08_GLOBAL_CHOP_MODE;
+
+ // Create the sensor instance with configured parameters
+ ads131 = new ADS131M08(modules.get<Buses>()->spi1,
+ miosix::sensors::ads131m08::cs::getPin(), config,
+ sensorConfig);
+
+ // Emplace the sensor inside the map
+ SensorInfo info("ADS131M08", ADS131M08_PERIOD,
+ bind(&Sensors::ads131Callback, this));
+ sensorMap.emplace(make_pair(ads131, info));
+
+ // used for the sensor state
+ auto ads131m08Status =
+ ([&]() -> SensorInfo { return manager->getSensorInfo(ads131); });
+ sensorsInit[sensorsCounter++] = ads131m08Status;
}
void Sensors::internalADCInit()
{
@@ -409,9 +452,14 @@ void Sensors::lis3mdlCallback()
LIS3MDLData lastSample = lis3mdl->getLastSample();
Logger::getInstance().log(lastSample);
}
-void Sensors::ms5803Callback()
+void Sensors::h3lisCallback()
+{
+ H3LIS331DLData lastSample = h3lis331dl->getLastSample();
+ Logger::getInstance().log(lastSample);
+}
+void Sensors::lps22Callback()
{
- MS5803Data lastSample = ms5803->getLastSample();
+ LPS22DFData lastSample = lps22df->getLastSample();
Logger::getInstance().log(lastSample);
}
void Sensors::ubxGpsCallback()
@@ -419,9 +467,9 @@ void Sensors::ubxGpsCallback()
UBXGPSData lastSample = ubxGps->getLastSample();
Logger::getInstance().log(lastSample);
}
-void Sensors::ads1118Callback()
+void Sensors::ads131Callback()
{
- ADS1118Data lastSample = ads1118->getLastSample();
+ ADS131M08Data lastSample = ads131->getLastSample();
Logger::getInstance().log(lastSample);
}
void Sensors::internalADCCallback()
diff --git a/src/boards/Parafoil/Sensors/Sensors.h b/src/boards/Parafoil/Sensors/Sensors.h
index 0b13052c5b04df1889a577c6d1330bff01f77e27..2455fc52b9be707ac04bdd6d2fc99784b5892c76 100644
--- a/src/boards/Parafoil/Sensors/Sensors.h
+++ b/src/boards/Parafoil/Sensors/Sensors.h
@@ -23,14 +23,15 @@
#include <Parafoil/Configs/SensorsConfig.h>
#include <drivers/adc/InternalADC.h>
-#include <sensors/ADS1118/ADS1118.h>
+#include <sensors/ADS131M08/ADS131M08.h>
#include <sensors/BMX160/BMX160.h>
#include <sensors/BMX160/BMX160WithCorrection.h>
+#include <sensors/H3LIS331DL/H3LIS331DL.h>
#include <sensors/LIS3MDL/LIS3MDL.h>
-#include <sensors/MS5803/MS5803.h>
+#include <sensors/LPS22DF/LPS22DF.h>
#include <sensors/SensorData.h>
#include <sensors/SensorManager.h>
-#include <sensors/UBXGPS/UBXGPSSerial.h>
+#include <sensors/UBXGPS/UBXGPSSpi.h>
#include <sensors/analog/BatteryVoltageSensor.h>
#include <sensors/calibration/SoftAndHardIronCalibration/SoftAndHardIronCalibration.h>
@@ -72,10 +73,11 @@ public:
Boardcore::BMX160Data getBMX160LastSample();
Boardcore::BMX160WithCorrectionData getBMX160WithCorrectionLastSample();
+ Boardcore::H3LIS331DLData getH3LISLastSample();
Boardcore::LIS3MDLData getLIS3MDLLastSample();
- Boardcore::MS5803Data getMS5803LastSample();
+ Boardcore::LPS22DFData getLPS22LastSample();
Boardcore::UBXGPSData getUbxGpsLastSample();
- Boardcore::ADS1118Data getADS1118LastSample();
+ Boardcore::ADS131M08Data getADS131LastSample();
Boardcore::InternalADCData getInternalADCLastSample();
Boardcore::BatteryVoltageSensorData getBatteryVoltageLastSample();
@@ -91,17 +93,20 @@ private:
void bmx160WithCorrectionInit();
void bmx160WithCorrectionCallback();
+ void h3lisInit();
+ void h3lisCallback();
+
void lis3mdlInit();
void lis3mdlCallback();
- void ms5803Init();
- void ms5803Callback();
+ void lps22Init();
+ void lps22Callback();
void ubxGpsInit();
void ubxGpsCallback();
- void ads1118Init();
- void ads1118Callback();
+ void ads131Init();
+ void ads131Callback();
void internalADCInit();
void internalADCCallback();
@@ -111,9 +116,10 @@ private:
// Sensors instances
Boardcore::LIS3MDL* lis3mdl = nullptr;
- Boardcore::MS5803* ms5803 = nullptr;
- Boardcore::UBXGPSSerial* ubxGps = nullptr;
- Boardcore::ADS1118* ads1118 = nullptr;
+ Boardcore::H3LIS331DL* h3lis331dl = nullptr;
+ Boardcore::LPS22DF* lps22df = nullptr;
+ Boardcore::UBXGPSSpi* ubxGps = nullptr;
+ Boardcore::ADS131M08* ads131 = nullptr;
Boardcore::InternalADC* internalADC = nullptr;
// Fake processed sensors
@@ -122,11 +128,12 @@ private:
// Mutexes for sampling
miosix::FastMutex lis3mdlMutex;
- miosix::FastMutex ms5803Mutex;
+ miosix::FastMutex lps22Mutex;
+ miosix::FastMutex h3lisMutex;
miosix::FastMutex bmx160Mutex;
miosix::FastMutex bmx160WithCorrectionMutex;
miosix::FastMutex ubxGpsMutex;
- miosix::FastMutex ads1118Mutex;
+ miosix::FastMutex ads131Mutex;
miosix::FastMutex internalADCMutex;
miosix::FastMutex batteryVoltageMutex;
diff --git a/src/boards/Parafoil/StateMachines/NASController/NASController.cpp b/src/boards/Parafoil/StateMachines/NASController/NASController.cpp
index e523b404514abf3c79d3de864412af8a82047221..76e42ebf811efa81aa4dfbeb1e124dc7f0cf0a6b 100644
--- a/src/boards/Parafoil/StateMachines/NASController/NASController.cpp
+++ b/src/boards/Parafoil/StateMachines/NASController/NASController.cpp
@@ -83,8 +83,8 @@ void NASController::update()
modules.get<Sensors>()->getBMX160WithCorrectionLastSample();
UBXGPSData gpsData = modules.get<Sensors>()->getUbxGpsLastSample();
- MS5803Data baroData = modules.get<Sensors>()->getMS5803LastSample();
-
+ LPS22DFData barometerData =
+ modules.get<Sensors>()->getLPS22LastSample();
// NAS prediction
nas.predictGyro(imuData);
nas.predictAcc(imuData);
@@ -92,7 +92,7 @@ void NASController::update()
// NAS correction
nas.correctMag(imuData);
nas.correctGPS(gpsData);
- nas.correctBaro(baroData.pressure);
+ nas.correctBaro(barometerData.pressure);
// Correct with accelerometer if the acceleration is in specs
Vector3f acceleration = static_cast<AccelerometerData>(imuData);
float accelerationNorm = acceleration.norm();
@@ -146,8 +146,8 @@ void NASController::calibrate()
imuData.magneticFieldZ);
// Static pressure barometer
- MS5803Data barometerData =
- modules.get<Sensors>()->getMS5803LastSample();
+ LPS22DFData barometerData =
+ modules.get<Sensors>()->getLPS22LastSample();
pressure.add(barometerData.pressure);
miosix::Thread::sleep(NASConfig::CALIBRATION_SLEEP_TIME);
diff --git a/src/boards/Parafoil/TMRepository/TMRepository.cpp b/src/boards/Parafoil/TMRepository/TMRepository.cpp
index 3828b44d1262c3ea9935706368436aaca552ab98..d0d0666db2875661af3d118fba4468b5d0e14321 100644
--- a/src/boards/Parafoil/TMRepository/TMRepository.cpp
+++ b/src/boards/Parafoil/TMRepository/TMRepository.cpp
@@ -159,7 +159,7 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
tm.timestamp = TimestampTimer::getTimestamp();
// Last samples
- MS5803Data ms5803 = modules.get<Sensors>()->getMS5803LastSample();
+ auto lps22df = modules.get<Sensors>()->getLPS22LastSample();
BMX160Data imu =
modules.get<Sensors>()->getBMX160WithCorrectionLastSample();
UBXGPSData gps = modules.get<Sensors>()->getUbxGpsLastSample();
@@ -179,7 +179,7 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
tm.wes_n = wind[0];
tm.wes_e = wind[1];
- tm.pressure_digi = ms5803.pressure;
+ tm.pressure_digi = lps22df.pressure;
// Altitude agl
tm.altitude_agl = -nasState.d;
@@ -233,7 +233,7 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
.batVoltage;
// tm.current_consumption =
// modules.get<Sensors>()->getCurrentLastSample().current;
- tm.temperature = ms5803.temperature;
+ tm.temperature = lps22df.temperature;
tm.logger_error = Logger::getInstance().getStats().lastWriteError;
tm.battery_voltage = modules.get<Sensors>()
@@ -379,7 +379,7 @@ mavlink_message_t TMRepository::packSensorsTm(SensorsTMList sensorId,
{
mavlink_pressure_tm_t tm;
- auto pressureData = modules.get<Sensors>()->getMS5803LastSample();
+ auto pressureData = modules.get<Sensors>()->getLPS22LastSample();
tm.timestamp = pressureData.pressureTimestamp;
strcpy(tm.sensor_name, "MS5803");
diff --git a/src/entrypoints/Parafoil/parafoil-entry.cpp b/src/entrypoints/Parafoil/parafoil-entry.cpp
index dbccf1c946c451120aa2258ac4e75234c6a3de43..e515c772b66e8ab74d919bfeeba3f861a2b7b196 100644
--- a/src/entrypoints/Parafoil/parafoil-entry.cpp
+++ b/src/entrypoints/Parafoil/parafoil-entry.cpp
@@ -162,10 +162,14 @@ int main()
}
// Start modules
- if (!Logger::getInstance().testSDCard())
+ if (!Logger::getInstance().start())
{
initResult = false;
- LOG_ERR(logger, "Error testing the Logger module");
+ LOG_ERR(logger, "Error starting the Logger module");
+ }
+ else
+ {
+ LOG_DEBUG(logger, "Logger started");
}
if (!EventBroker::getInstance().start())