From 9ba790d74826035515fbbb77c5058da1417c33c4 Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Wed, 7 May 2025 23:41:01 +0200
Subject: [PATCH] [Parafoil] Update submodules
---
src/MockupMain/Sensors/Sensors.cpp | 19 ++++++++++++-------
src/Parafoil/Radio/MessageHandler.cpp | 4 ++--
src/Parafoil/Radio/Radio.h | 6 +++---
src/Parafoil/Sensors/Sensors.cpp | 19 ++++++++++++-------
src/Parafoil/parafoil-entry.cpp | 2 ++
5 files changed, 31 insertions(+), 19 deletions(-)
diff --git a/src/MockupMain/Sensors/Sensors.cpp b/src/MockupMain/Sensors/Sensors.cpp
index aa0dd8542..fad15ae3c 100644
--- a/src/MockupMain/Sensors/Sensors.cpp
+++ b/src/MockupMain/Sensors/Sensors.cpp
@@ -105,6 +105,9 @@ bool Sensors::isStarted() { return started; }
void Sensors::calibrate()
{
+ if (!bmx160WithCorrection)
+ return;
+
bmx160WithCorrection->startCalibration();
miosix::Thread::sleep(
@@ -399,15 +402,17 @@ void Sensors::internalADCInit()
void Sensors::bmx160Callback()
{
- auto fifoSize = bmx160->getLastFifoSize();
- auto& fifo = bmx160->getLastFifo();
-
- Logger::getInstance().log(bmx160->getTemperature());
+ if (!bmx160)
+ return;
- for (auto i = 0; i < fifoSize; i++)
- Logger::getInstance().log(fifo.at(i));
+ // We can skip logging the last sample since we are logging the fifo
+ auto& logger = Logger::getInstance();
+ uint16_t lastFifoSize;
+ const auto lastFifo = bmx160->getLastFifo(lastFifoSize);
- Logger::getInstance().log(bmx160->getFifoStats());
+ // For every instance inside the fifo log the sample
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ logger.log(lastFifo.at(i));
}
void Sensors::bmx160WithCorrectionCallback()
diff --git a/src/Parafoil/Radio/MessageHandler.cpp b/src/Parafoil/Radio/MessageHandler.cpp
index a635e8bc6..2644476b8 100644
--- a/src/Parafoil/Radio/MessageHandler.cpp
+++ b/src/Parafoil/Radio/MessageHandler.cpp
@@ -21,7 +21,7 @@
*/
#include <Parafoil/Actuators/Actuators.h>
-#include <Parafoil/AltitudeTrigger/AltitudeTrigger.h>
+#include <Parafoil/AltitudeTrigger/LandingFlare.h>
#include <Parafoil/BoardScheduler.h>
#include <Parafoil/Configs/RadioConfig.h>
#include <Parafoil/FlightStatsRecorder/FlightStatsRecorder.h>
@@ -240,7 +240,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
float altitude =
mavlink_msg_set_deployment_altitude_tc_get_dpl_altitude(&msg);
- parent.getModule<AltitudeTrigger>()->setDeploymentAltitude(
+ parent.getModule<LandingFlare>()->setDeploymentAltitude(
Meter{altitude});
if (altitude < 200 || altitude > 450)
diff --git a/src/Parafoil/Radio/Radio.h b/src/Parafoil/Radio/Radio.h
index 2b39b0ca7..63fdfcc6d 100644
--- a/src/Parafoil/Radio/Radio.h
+++ b/src/Parafoil/Radio/Radio.h
@@ -43,15 +43,15 @@ class FlightModeManager;
class Actuators;
class NASController;
class WingController;
-class AltitudeTrigger;
+class LandingFlare;
class PinHandler;
class WindEstimation;
class FlightStatsRecorder;
class Radio : public Boardcore::InjectableWithDeps<
BoardScheduler, Sensors, Buses, FlightModeManager, Actuators,
- NASController, WingController, AltitudeTrigger, PinHandler,
- WindEstimation, FlightStatsRecorder>
+ NASController, WingController, PinHandler, WindEstimation,
+ FlightStatsRecorder, LandingFlare>
{
public:
/**
diff --git a/src/Parafoil/Sensors/Sensors.cpp b/src/Parafoil/Sensors/Sensors.cpp
index 90be4ffe7..cc35046e0 100644
--- a/src/Parafoil/Sensors/Sensors.cpp
+++ b/src/Parafoil/Sensors/Sensors.cpp
@@ -105,6 +105,9 @@ bool Sensors::isStarted() { return started; }
void Sensors::calibrate()
{
+ if (!bmx160WithCorrection)
+ return;
+
bmx160WithCorrection->startCalibration();
miosix::Thread::sleep(
@@ -378,15 +381,17 @@ void Sensors::internalADCInit()
void Sensors::bmx160Callback()
{
- auto fifoSize = bmx160->getLastFifoSize();
- auto& fifo = bmx160->getLastFifo();
-
- Logger::getInstance().log(bmx160->getTemperature());
+ if (!bmx160)
+ return;
- for (auto i = 0; i < fifoSize; i++)
- Logger::getInstance().log(fifo.at(i));
+ // We can skip logging the last sample since we are logging the fifo
+ auto& logger = Logger::getInstance();
+ uint16_t lastFifoSize;
+ const auto lastFifo = bmx160->getLastFifo(lastFifoSize);
- Logger::getInstance().log(bmx160->getFifoStats());
+ // For every instance inside the fifo log the sample
+ for (uint16_t i = 0; i < lastFifoSize; i++)
+ logger.log(lastFifo.at(i));
}
void Sensors::bmx160WithCorrectionCallback()
diff --git a/src/Parafoil/parafoil-entry.cpp b/src/Parafoil/parafoil-entry.cpp
index 2a68f7e84..5fa50f8cf 100644
--- a/src/Parafoil/parafoil-entry.cpp
+++ b/src/Parafoil/parafoil-entry.cpp
@@ -20,6 +20,8 @@
* THE SOFTWARE.
*/
+#define DEFAULT_STDOUT_LOG_LEVEL LOGL_INFO
+
#include <Parafoil/Actuators/Actuators.h>
#include <Parafoil/AltitudeTrigger/LandingFlare.h>
#include <Parafoil/BoardScheduler.h>
--
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