diff --git a/src/Engine/CanHandler/CanHandler.cpp b/src/Engine/CanHandler/CanHandler.cpp
index 1104797511db2c7deb9d064af83e2445edd12bcc..bcd3b14d00fe2f085633a30b58e9294820d239b7 100644
--- a/src/Engine/CanHandler/CanHandler.cpp
+++ b/src/Engine/CanHandler/CanHandler.cpp
@@ -63,7 +63,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::STATUS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST), 0x00,
DeviceStatus{
TimestampTimer::getTimestamp(),
@@ -90,7 +90,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::CC_PRESSURE),
static_cast<PressureData>(sensors->getCCPressLastSample()));
@@ -98,7 +98,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::OX_TOP_TANK_PRESSURE),
static_cast<PressureData>(
@@ -107,7 +107,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(
CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_0),
@@ -117,7 +117,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(
CanConfig::SensorId::OX_BOTTOM_TANK_PRESSURE_1),
@@ -127,7 +127,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::N2_TANK_PRESSURE),
static_cast<PressureData>(sensors->getN2TankPressLastSample()));
@@ -148,7 +148,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(CanConfig::SensorId::TANK_TEMPERATURE),
static_cast<TemperatureData>(sensors->getTankTempLastSample()));
@@ -156,9 +156,9 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::MEDIUM),
static_cast<uint8_t>(CanConfig::PrimaryType::SENSORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
- static_cast<uint8_t>(CanConfig::SensorId::MOTOR_BOARD_VOLTAGE),
+ static_cast<uint8_t>(CanConfig::SensorId::ENGINE_BOARD_VOLTAGE),
static_cast<VoltageData>(
sensors->getBatteryVoltageLastSample()));
},
@@ -178,7 +178,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::MAIN_VALVE),
ServoFeedback{
@@ -189,7 +189,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::OX_VENTING_VALVE),
ServoFeedback{
@@ -200,7 +200,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::NITROGEN_VALVE),
ServoFeedback{
@@ -211,7 +211,7 @@ bool CanHandler::start()
protocol.enqueueData(
static_cast<uint8_t>(CanConfig::Priority::HIGH),
static_cast<uint8_t>(CanConfig::PrimaryType::ACTUATORS),
- static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST),
static_cast<uint8_t>(ServosList::N2_QUENCHING_VALVE),
ServoFeedback{
diff --git a/src/Engine/HIL/HIL.cpp b/src/Engine/HIL/HIL.cpp
index 3583f2e81f921629bc4b385b6d905c0204e22a2e..768d2d07e20390e6c7ec3c622a2b6f7fca3e1069 100644
--- a/src/Engine/HIL/HIL.cpp
+++ b/src/Engine/HIL/HIL.cpp
@@ -54,7 +54,7 @@ EngineHILPhasesManager::EngineHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
diff --git a/src/Main/CanHandler/CanHandler.cpp b/src/Main/CanHandler/CanHandler.cpp
index dccecff947c75969bdef38f54279c015e53ef5cb..14d183a56c30d075e83a8a30f6976992e73c8f5e 100644
--- a/src/Main/CanHandler/CanHandler.cpp
+++ b/src/Main/CanHandler/CanHandler.cpp
@@ -42,7 +42,7 @@ CanHandler::CanHandler()
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::RIG),
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
- protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::MOTOR),
+ protocol.addFilter(static_cast<uint8_t>(CanConfig::Board::ENGINE),
static_cast<uint8_t>(CanConfig::Board::BROADCAST));
}
@@ -244,11 +244,11 @@ void CanHandler::handleSensor(const Canbus::CanMessage& msg)
break;
}
- case CanConfig::SensorId::MOTOR_BOARD_VOLTAGE:
+ case CanConfig::SensorId::ENGINE_BOARD_VOLTAGE:
{
CanVoltageData data = voltageDataFromCanMessage(msg);
sdLogger.log(data);
- sensors->setCanMotorBatteryVoltage(data);
+ sensors->setCanEngineBatteryVoltage(data);
break;
}
@@ -293,14 +293,14 @@ void CanHandler::handleStatus(const Canbus::CanMessage& msg)
break;
}
- case CanConfig::Board::MOTOR:
+ case CanConfig::Board::ENGINE:
{
- status.motorLastStatus = getTime();
- status.motorState = deviceStatus.state;
+ status.engineLastStatus = getTime();
+ status.engineState = deviceStatus.state;
- status.motorLogNumber = deviceStatus.logNumber;
- status.motorLogGood = deviceStatus.logGood;
- status.motorHil = deviceStatus.hil;
+ status.engineLogNumber = deviceStatus.logNumber;
+ status.engineLogGood = deviceStatus.logGood;
+ status.engineHil = deviceStatus.hil;
break;
}
diff --git a/src/Main/CanHandler/CanHandler.h b/src/Main/CanHandler/CanHandler.h
index 1ea17ea7c31752d7ca620ff205cda0736bac3b63..e4de6ea4115d92301a9c4f46518e1c6b2ad20352 100644
--- a/src/Main/CanHandler/CanHandler.h
+++ b/src/Main/CanHandler/CanHandler.h
@@ -46,18 +46,18 @@ public:
{
long long rigLastStatus = 0;
long long payloadLastStatus = 0;
- long long motorLastStatus = 0;
+ long long engineLastStatus = 0;
uint8_t rigState = 0;
uint8_t payloadState = 0;
- uint8_t motorState = 0;
+ uint8_t engineState = 0;
bool rigArmed = false;
bool payloadArmed = false;
- uint16_t motorLogNumber = 0;
- bool motorLogGood = true;
- bool motorHil = false;
+ uint16_t engineLogNumber = 0;
+ bool engineLogGood = true;
+ bool engineHil = false;
bool isRigConnected()
{
@@ -70,23 +70,23 @@ public:
(payloadLastStatus +
Config::CanHandler::STATUS_TIMEOUT.count());
}
- bool isMotorConnected()
+ bool isEngineConnected()
{
return miosix::getTime() <=
- (motorLastStatus +
+ (engineLastStatus +
Config::CanHandler::STATUS_TIMEOUT.count());
}
uint8_t getRigState() { return rigState; }
uint8_t getPayloadState() { return payloadState; }
- uint8_t getMotorState() { return motorState; }
+ uint8_t getEngineState() { return engineState; }
bool isRigArmed() { return rigArmed; }
bool isPayloadArmed() { return payloadArmed; }
- uint16_t getMotorLogNumber() { return motorLogNumber; }
- bool isMotorLogGood() { return motorLogGood; }
- bool isMotorHil() { return motorHil; }
+ uint16_t getEngineLogNumber() { return engineLogNumber; }
+ bool isEngineLogGood() { return engineLogGood; }
+ bool isEngineHil() { return engineHil; }
};
CanHandler();
diff --git a/src/Main/HIL/HIL.cpp b/src/Main/HIL/HIL.cpp
index 04e501dd53d7ebb5e6433208052a6f3768f9826b..4917954b828cc4bc04941c2b981618e555addcf8 100644
--- a/src/Main/HIL/HIL.cpp
+++ b/src/Main/HIL/HIL.cpp
@@ -76,7 +76,7 @@ MainHILPhasesManager::MainHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
@@ -134,7 +134,7 @@ void MainHILPhasesManager::printOutcomes()
printf("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
- printf("Motor stopped burning (simulation flag): \n");
+ printf("Engine stopped burning (simulation flag): \n");
outcomes[MainFlightPhases::SIM_BURNING].print(t_liftoff);
printf("Airbrakes exit shadowmode: \n");
@@ -193,7 +193,7 @@ void MainHILPhasesManager::handleEventImpl(
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(MainFlightPhases::LIFTOFF);
break;
- case Common::Events::FLIGHT_MOTOR_SHUTDOWN:
+ case Common::Events::FLIGHT_ENGINE_SHUTDOWN:
printf("[HIL] ------- SHUTDOWN -------: %f, %f \n",
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(MainFlightPhases::SHUTDOWN);
diff --git a/src/Main/Radio/Radio.cpp b/src/Main/Radio/Radio.cpp
index 6adb0c5a21d8d79d13b3b6dce8e03f355245b35d..e6f75d6d826683a67703972f27c98b6e54df0269 100644
--- a/src/Main/Radio/Radio.cpp
+++ b/src/Main/Radio/Radio.cpp
@@ -838,10 +838,10 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
CanHandler::CanStatus canStatus =
getModule<CanHandler>()->getCanStatus();
tm.payload_board_state = canStatus.getPayloadState();
- tm.motor_board_state = canStatus.getMotorState();
+ tm.motor_board_state = canStatus.getEngineState();
tm.payload_can_status = canStatus.isPayloadConnected() ? 1 : 0;
- tm.motor_can_status = canStatus.isMotorConnected() ? 1 : 0;
+ tm.motor_can_status = canStatus.isEngineConnected() ? 1 : 0;
tm.rig_can_status = canStatus.isRigConnected() ? 1 : 0;
tm.hil_state = PersistentVars::getHilMode() ? 1 : 0;
@@ -873,7 +873,7 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.tank_temperature =
sensors->getCanTankTempLastSample().temperature;
tm.battery_voltage =
- sensors->getCanMotorBatteryVoltageLastSample().voltage;
+ sensors->getCanEngineBatteryVoltageLastSample().voltage;
// Valve states
tm.main_valve_state =
@@ -885,9 +885,9 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
CanHandler::CanStatus canStatus =
getModule<CanHandler>()->getCanStatus();
- tm.log_number = canStatus.getMotorLogNumber();
- tm.log_good = canStatus.isMotorLogGood() ? 1 : 0;
- tm.hil_state = canStatus.isMotorHil() ? 1 : 0;
+ tm.log_number = canStatus.getEngineLogNumber();
+ tm.log_good = canStatus.isEngineLogGood() ? 1 : 0;
+ tm.hil_state = canStatus.isEngineHil() ? 1 : 0;
mavlink_msg_motor_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID, &msg,
diff --git a/src/Main/Sensors/HILSensors.h b/src/Main/Sensors/HILSensors.h
index dfc34428f039a6345f6fdd747593f68ac4fc8260..d7f6e0d3d0cf80574eafcd90fd3fb6d79cf54c30 100644
--- a/src/Main/Sensors/HILSensors.h
+++ b/src/Main/Sensors/HILSensors.h
@@ -67,7 +67,7 @@ private:
if (!Config::HIL::IS_FULL_HIL)
{
// Adding to sensorManager's scheduler a task to "sample" the
- // combustion chamber pressure coming from motor
+ // combustion chamber pressure coming from engine
getSensorsScheduler().addTask([this]()
{ setCanCCPress(updateCCData()); },
Config::HIL::BARO_CHAMBER_RATE);
diff --git a/src/Main/Sensors/Sensors.cpp b/src/Main/Sensors/Sensors.cpp
index edeaa29a201d0906de3580ea26f7d9f40e1e11f5..f9e8de2a68ec2fa9773c2bc7c7bb8ed726c4888b 100644
--- a/src/Main/Sensors/Sensors.cpp
+++ b/src/Main/Sensors/Sensors.cpp
@@ -418,10 +418,10 @@ TemperatureData Sensors::getCanTankTempLastSample()
return canTankTemperature;
}
-VoltageData Sensors::getCanMotorBatteryVoltageLastSample()
+VoltageData Sensors::getCanEngineBatteryVoltageLastSample()
{
Lock<FastMutex> lock{canMutex};
- return canMotorBatteryVoltage;
+ return canEngineBatteryVoltage;
}
void Sensors::setCanPitotDynamicPress(PressureData data)
@@ -460,10 +460,10 @@ void Sensors::setCanTankTemp(TemperatureData data)
canTankTemperature = data;
}
-void Sensors::setCanMotorBatteryVoltage(VoltageData data)
+void Sensors::setCanEngineBatteryVoltage(VoltageData data)
{
Lock<FastMutex> lock{canMutex};
- canMotorBatteryVoltage = data;
+ canEngineBatteryVoltage = data;
}
std::vector<SensorInfo> Sensors::getSensorInfos()
diff --git a/src/Main/Sensors/Sensors.h b/src/Main/Sensors/Sensors.h
index bb4bda036790ec8de7cd525d634c4b1e412ff6da..73abbc4feaa5d57d004401a5293cd73472175030 100644
--- a/src/Main/Sensors/Sensors.h
+++ b/src/Main/Sensors/Sensors.h
@@ -104,7 +104,7 @@ public:
Boardcore::PressureData getCanBottomTankPressLastSample();
Boardcore::PressureData getCanCCPressLastSample();
Boardcore::TemperatureData getCanTankTempLastSample();
- Boardcore::VoltageData getCanMotorBatteryVoltageLastSample();
+ Boardcore::VoltageData getCanEngineBatteryVoltageLastSample();
std::vector<Boardcore::SensorInfo> getSensorInfos();
@@ -115,7 +115,7 @@ public:
void setCanBottomTankPress(Boardcore::PressureData data);
void setCanCCPress(Boardcore::PressureData data);
void setCanTankTemp(Boardcore::TemperatureData data);
- void setCanMotorBatteryVoltage(Boardcore::VoltageData data);
+ void setCanEngineBatteryVoltage(Boardcore::VoltageData data);
protected:
virtual bool postSensorCreationHook() { return true; }
@@ -132,7 +132,7 @@ protected:
Boardcore::PressureData canTopTankPressure;
Boardcore::PressureData canBottomTankPressure;
Boardcore::TemperatureData canTankTemperature;
- Boardcore::VoltageData canMotorBatteryVoltage;
+ Boardcore::VoltageData canEngineBatteryVoltage;
// Digital sensors
std::unique_ptr<Boardcore::LPS22DF> lps22df;
diff --git a/src/Main/StateMachines/ABKController/ABKController.cpp b/src/Main/StateMachines/ABKController/ABKController.cpp
index 085527243c396d6eea6b8b848c22d69b17450996..2b3c792184ada13924bead22cf3b2d03a0d5dd40 100644
--- a/src/Main/StateMachines/ABKController/ABKController.cpp
+++ b/src/Main/StateMachines/ABKController/ABKController.cpp
@@ -148,9 +148,9 @@ void ABKController::state_armed(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
- // Enable only after motor shutdown
+ // Enable only after engine shutdown
transition(&ABKController::state_shadow_mode);
break;
}
diff --git a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
index 285c16e63f3d01857bb8add942c0e432fb0317fd..097b3bf21b7bc59367f6e92a7d1d80a87742c6bb 100644
--- a/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -608,7 +608,7 @@ State FlightModeManager::state_unpowered_ascent(const Event& event)
{
updateAndLogStatus(FlightModeManagerState::UNPOWERED_ASCENT);
- EventBroker::getInstance().post(FLIGHT_MOTOR_SHUTDOWN,
+ EventBroker::getInstance().post(FLIGHT_ENGINE_SHUTDOWN,
TOPIC_FLIGHT);
apogeeTimeoutEvent = EventBroker::getInstance().postDelayed(
diff --git a/src/Main/StateMachines/MEAController/MEAController.cpp b/src/Main/StateMachines/MEAController/MEAController.cpp
index cc463d7fbf5696f965df960c270f7237ed094e36..64318038707327962b7646bd74bfd0faf8064796 100644
--- a/src/Main/StateMachines/MEAController/MEAController.cpp
+++ b/src/Main/StateMachines/MEAController/MEAController.cpp
@@ -298,7 +298,7 @@ void MEAController::state_shadow_mode(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
transition(&MEAController::state_active_unpowered);
break;
@@ -328,7 +328,7 @@ void MEAController::state_active(const Event& event)
break;
}
- case FLIGHT_MOTOR_SHUTDOWN:
+ case FLIGHT_ENGINE_SHUTDOWN:
{
transition(&MEAController::state_active_unpowered);
break;
diff --git a/src/Payload/CanHandler/CanHandler.cpp b/src/Payload/CanHandler/CanHandler.cpp
index ed916b236205c86b410608f4e73ff1fe109023f4..c529aa1a672f01d87d0ef523e1366830df54c574 100644
--- a/src/Payload/CanHandler/CanHandler.cpp
+++ b/src/Payload/CanHandler/CanHandler.cpp
@@ -53,10 +53,10 @@ bool CanStatus::isRigConnected()
rigLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
}
-bool CanStatus::isMotorConnected()
+bool CanStatus::isEngineConnected()
{
return miosix::getTime() <=
- motorLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
+ engineLastStatus + nanoseconds{config::Status::TIMEOUT}.count();
}
bool CanHandler::start()
@@ -91,12 +91,12 @@ bool CanHandler::start()
return false;
}
- // Add MOTOR filter
- filterAdded = protocol->addFilter(static_cast<uint8_t>(Board::MOTOR),
+ // Add ENGINE filter
+ filterAdded = protocol->addFilter(static_cast<uint8_t>(Board::ENGINE),
static_cast<uint8_t>(Board::BROADCAST));
if (!filterAdded)
{
- LOG_ERR(logger, "Failed to add MOTOR filter");
+ LOG_ERR(logger, "Failed to add ENGINE filter");
return false;
}
@@ -281,14 +281,14 @@ void CanHandler::handleStatus(const CanMessage& msg)
break;
}
- case Board::MOTOR:
+ case Board::ENGINE:
{
- status.motorLastStatus = miosix::getTime();
- status.motorState = deviceStatus.state;
+ status.engineLastStatus = miosix::getTime();
+ status.engineState = deviceStatus.state;
- status.motorLogNumber = deviceStatus.logNumber;
- status.motorLogGood = deviceStatus.logGood;
- status.motorHil = deviceStatus.hil;
+ status.engineLogNumber = deviceStatus.logNumber;
+ status.engineLogGood = deviceStatus.logGood;
+ status.engineHil = deviceStatus.hil;
break;
}
diff --git a/src/Payload/CanHandler/CanHandler.h b/src/Payload/CanHandler/CanHandler.h
index 6087184b68c4b0387bee60e8781b5d5e0756398b..e793bba964427a991307f789ba55e1950eb36e09 100644
--- a/src/Payload/CanHandler/CanHandler.h
+++ b/src/Payload/CanHandler/CanHandler.h
@@ -38,22 +38,22 @@ struct CanStatus
{
int64_t mainLastStatus = 0; ///< Timestamp of last main status message
int64_t rigLastStatus = 0; ///< Timestamp of last rig status message
- int64_t motorLastStatus = 0; ///< Timestamp of last motor status message
+ int64_t engineLastStatus = 0; ///< Timestamp of last engine status message
uint8_t mainState = 0;
uint8_t rigState = 0;
- uint8_t motorState = 0;
+ uint8_t engineState = 0;
bool mainArmed = false;
bool rigArmed = false;
- int16_t motorLogNumber = -1;
- bool motorLogGood = false;
- bool motorHil = false;
+ int16_t engineLogNumber = -1;
+ bool engineLogGood = false;
+ bool engineHil = false;
bool isMainConnected();
bool isRigConnected();
- bool isMotorConnected();
+ bool isEngineConnected();
};
class CanHandler
diff --git a/src/Payload/HIL/HIL.cpp b/src/Payload/HIL/HIL.cpp
index 304f82bd25caf309ef4580a9b69384e1dc36d469..3c9319d95d668a294b6173f1b31a0348960d1f61 100644
--- a/src/Payload/HIL/HIL.cpp
+++ b/src/Payload/HIL/HIL.cpp
@@ -53,7 +53,7 @@ PayloadHILPhasesManager::PayloadHILPhasesManager(
{PayloadFlightPhases::ARMED, false},
{PayloadFlightPhases::LIFTOFF_PIN_DETACHED, false},
{PayloadFlightPhases::LIFTOFF, false},
- {PayloadFlightPhases::MOTOR_SHUTDOWN, false},
+ {PayloadFlightPhases::ENGINE_SHUTDOWN, false},
{PayloadFlightPhases::AEROBRAKES, false},
{PayloadFlightPhases::APOGEE, false},
{PayloadFlightPhases::PARA1, false},
@@ -73,7 +73,7 @@ PayloadHILPhasesManager::PayloadHILPhasesManager(
eventBroker.subscribe(this, Common::TOPIC_FSR);
eventBroker.subscribe(this, Common::TOPIC_NAS);
eventBroker.subscribe(this, Common::TOPIC_TMTC);
- eventBroker.subscribe(this, Common::TOPIC_MOTOR);
+ eventBroker.subscribe(this, Common::TOPIC_ENGINE);
eventBroker.subscribe(this, Common::TOPIC_TARS);
eventBroker.subscribe(this, Common::TOPIC_ALT);
}
@@ -121,8 +121,8 @@ void PayloadHILPhasesManager::printOutcomes()
printf("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
- printf("Motor shutdown: \n");
- outcomes[PayloadFlightPhases::MOTOR_SHUTDOWN].print(t_liftoff);
+ printf("Engine shutdown: \n");
+ outcomes[PayloadFlightPhases::ENGINE_SHUTDOWN].print(t_liftoff);
printf("Apogee: \n");
outcomes[PayloadFlightPhases::APOGEE].print(t_liftoff);
@@ -179,12 +179,12 @@ void PayloadHILPhasesManager::handleEventImpl(
getCurrentPosition().z, getCurrentPosition().vz);
changed_flags.push_back(PayloadFlightPhases::LIFTOFF);
break;
- case Common::Events::FLIGHT_MOTOR_SHUTDOWN:
- setFlagFlightPhase(PayloadFlightPhases::MOTOR_SHUTDOWN, true);
- registerOutcomes(PayloadFlightPhases::MOTOR_SHUTDOWN);
- printf("[HIL] ------- MOTOR SHUTDOWN ! ------- %f, %f \n",
+ case Common::Events::FLIGHT_ENGINE_SHUTDOWN:
+ setFlagFlightPhase(PayloadFlightPhases::ENGINE_SHUTDOWN, true);
+ registerOutcomes(PayloadFlightPhases::ENGINE_SHUTDOWN);
+ printf("[HIL] ------- ENGINE SHUTDOWN ! ------- %f, %f \n",
getCurrentPosition().z, getCurrentPosition().vz);
- changed_flags.push_back(PayloadFlightPhases::MOTOR_SHUTDOWN);
+ changed_flags.push_back(PayloadFlightPhases::ENGINE_SHUTDOWN);
break;
case Common::Events::FLIGHT_APOGEE_DETECTED:
case Common::Events::CAN_APOGEE_DETECTED:
diff --git a/src/Payload/HIL/HILData.h b/src/Payload/HIL/HILData.h
index 3dd0597783ad688da95fc0b9ed8a71ec564b59eb..11e6807d693f97715a09ea394dc6f7deed4251bf 100644
--- a/src/Payload/HIL/HILData.h
+++ b/src/Payload/HIL/HILData.h
@@ -67,7 +67,7 @@ enum class PayloadFlightPhases
ARMED,
LIFTOFF_PIN_DETACHED,
LIFTOFF,
- MOTOR_SHUTDOWN,
+ ENGINE_SHUTDOWN,
AEROBRAKES,
APOGEE,
PARA1,
diff --git a/src/Payload/Radio/MessageHandler.cpp b/src/Payload/Radio/MessageHandler.cpp
index 42e9172d053267c0b80b2b2c7aa32f85d18e1b25..599aabcee342e424184dd354498bad91ba84abd8 100644
--- a/src/Payload/Radio/MessageHandler.cpp
+++ b/src/Payload/Radio/MessageHandler.cpp
@@ -678,10 +678,10 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
auto canStatus = parent.getModule<CanHandler>()->getCanStatus();
tm.main_board_state = canStatus.mainState;
- tm.motor_board_state = canStatus.motorState;
+ tm.motor_board_state = canStatus.engineState;
tm.main_can_status = canStatus.isMainConnected();
- tm.motor_can_status = canStatus.isMotorConnected();
+ tm.motor_can_status = canStatus.isEngineConnected();
tm.rig_can_status = canStatus.isRigConnected();
tm.hil_state = PersistentVars::getHilMode();
@@ -732,11 +732,11 @@ bool Radio::MavlinkBackend::enqueueSystemTm(SystemTMList tmId)
tm.combustion_chamber_pressure = -1.0f;
tm.tank_temperature = -1.0f;
tm.battery_voltage = -1.0f;
- tm.log_good = canStatus.motorLogGood;
- tm.log_number = canStatus.motorLogNumber;
+ tm.log_good = canStatus.engineLogGood;
+ tm.log_number = canStatus.engineLogNumber;
tm.main_valve_state = 255;
tm.venting_valve_state = 255;
- tm.hil_state = canStatus.motorHil;
+ tm.hil_state = canStatus.engineHil;
mavlink_msg_motor_tm_encode(config::Mavlink::SYSTEM_ID,
config::Mavlink::COMPONENT_ID, &msg,
diff --git a/src/common/CanConfig.h b/src/common/CanConfig.h
index 60fff984b44f304b094ebc374b6cf9f9d03d4d8b..8ccda3495f7d4e8bb83539bc64215bed95a59fcb 100644
--- a/src/common/CanConfig.h
+++ b/src/common/CanConfig.h
@@ -67,7 +67,7 @@ enum class Board : uint8_t
RIG,
MAIN,
PAYLOAD,
- MOTOR
+ ENGINE
};
enum class SensorId : uint8_t
@@ -82,10 +82,10 @@ enum class SensorId : uint8_t
OX_TOP_TANK_PRESSURE,
N2_TANK_PRESSURE,
TANK_TEMPERATURE,
- MOTOR_ACTUATORS_CURRENT,
+ ENGINE_ACTUATORS_CURRENT,
MAIN_BOARD_CURRENT,
PAYLOAD_BOARD_CURRENT,
- MOTOR_BOARD_VOLTAGE
+ ENGINE_BOARD_VOLTAGE
};
enum class EventId : uint8_t
diff --git a/src/common/Events.h b/src/common/Events.h
index 5e02ec8629f033da64bcd0977960a9cdf8687d63..967aeaade1c8993594911af766cad8d9a4e8e9ed 100644
--- a/src/common/Events.h
+++ b/src/common/Events.h
@@ -89,7 +89,7 @@ enum Events : uint8_t
FLIGHT_LANDING_TIMEOUT,
FLIGHT_LAUNCH_PIN_DETACHED,
FLIGHT_LIFTOFF,
- FLIGHT_MOTOR_SHUTDOWN,
+ FLIGHT_ENGINE_SHUTDOWN,
FLIGHT_MISSION_TIMEOUT,
FLIGHT_NC_DETACHED,
FLIGHT_WING_DESCENT,
@@ -142,36 +142,36 @@ enum Events : uint8_t
TMTC_ARP_CALIBRATE,
TMTC_ARP_ENTER_TEST_MODE,
TMTC_ARP_EXIT_TEST_MODE,
- MOTOR_START_TARS,
- MOTOR_STOP_TARS,
- MOTOR_OX_FIL_OPEN,
- MOTOR_OX_FIL_CLOSE,
- MOTOR_OX_REL_OPEN,
- MOTOR_OX_REL_CLOSE,
- MOTOR_OX_DET_OPEN,
- MOTOR_OX_DET_CLOSE,
- MOTOR_N2_3W_OPEN,
- MOTOR_N2_3W_CLOSE,
- MOTOR_N2_FIL_OPEN,
- MOTOR_N2_FIL_CLOSE,
- MOTOR_N2_REL_OPEN,
- MOTOR_N2_REL_CLOSE,
- MOTOR_N2_DET_OPEN,
- MOTOR_N2_DET_CLOSE,
- MOTOR_NITR_OPEN,
- MOTOR_NITR_CLOSE,
- MOTOR_OX_VEN_OPEN,
- MOTOR_OX_VEN_CLOSE,
- MOTOR_N2_QUE_OPEN,
- MOTOR_N2_QUE_CLOSE,
- MOTOR_MAIN_OPEN,
- MOTOR_MAIN_CLOSE,
- MOTOR_IGNITION,
- MOTOR_MANUAL_ACTION,
- MOTOR_OPEN_OXIDANT,
- MOTOR_COOLING_TIMEOUT,
- MOTOR_SHADOW_MODE_TIMEOUT,
- MOTOR_OPEN_CHAMBER,
+ ENGINE_START_TARS,
+ ENGINE_STOP_TARS,
+ ENGINE_OX_FIL_OPEN,
+ ENGINE_OX_FIL_CLOSE,
+ ENGINE_OX_REL_OPEN,
+ ENGINE_OX_REL_CLOSE,
+ ENGINE_OX_DET_OPEN,
+ ENGINE_OX_DET_CLOSE,
+ ENGINE_N2_3W_OPEN,
+ ENGINE_N2_3W_CLOSE,
+ ENGINE_N2_FIL_OPEN,
+ ENGINE_N2_FIL_CLOSE,
+ ENGINE_N2_REL_OPEN,
+ ENGINE_N2_REL_CLOSE,
+ ENGINE_N2_DET_OPEN,
+ ENGINE_N2_DET_CLOSE,
+ ENGINE_NITR_OPEN,
+ ENGINE_NITR_CLOSE,
+ ENGINE_OX_VEN_OPEN,
+ ENGINE_OX_VEN_CLOSE,
+ ENGINE_N2_QUE_OPEN,
+ ENGINE_N2_QUE_CLOSE,
+ ENGINE_MAIN_OPEN,
+ ENGINE_MAIN_CLOSE,
+ ENGINE_IGNITION,
+ ENGINE_MANUAL_ACTION,
+ ENGINE_OPEN_OXIDANT,
+ ENGINE_COOLING_TIMEOUT,
+ ENGINE_SHADOW_MODE_TIMEOUT,
+ ENGINE_OPEN_CHAMBER,
TARS_WASHING_DONE,
TARS_CHECK_PRESSURE_STABILIZE,
TARS_PRESSURE_STABILIZED,
@@ -237,7 +237,7 @@ inline std::string getEventString(uint8_t event)
{FLIGHT_LANDING_DETECTED, "FLIGHT_LANDING_DETECTED"},
{FLIGHT_LAUNCH_PIN_DETACHED, "FLIGHT_LAUNCH_PIN_DETACHED"},
{FLIGHT_LIFTOFF, "FLIGHT_LIFTOFF"},
- {FLIGHT_MOTOR_SHUTDOWN, "FLIGHT_MOTOR_SHUTDOWN"},
+ {FLIGHT_ENGINE_SHUTDOWN, "FLIGHT_ENGINE_SHUTDOWN"},
{FLIGHT_LANDING_TIMEOUT, "FLIGHT_LANDING_TIMEOUT"},
{FLIGHT_NC_DETACHED, "FLIGHT_NC_DETACHED"},
{FLIGHT_MISSION_TIMEOUT, "FLIGHT_MISSION_TIMEOUT"},
@@ -291,36 +291,36 @@ inline std::string getEventString(uint8_t event)
{TMTC_ARP_FOLLOW, "TMTC_ARP_FOLLOW"},
{TMTC_ARP_ENTER_TEST_MODE, "TMTC_ARP_ENTER_TEST_MODE"},
{TMTC_ARP_EXIT_TEST_MODE, "TMTC_ARP_EXIT_TEST_MODE"},
- {MOTOR_START_TARS, "MOTOR_START_TARS"},
- {MOTOR_STOP_TARS, "MOTOR_STOP_TARS"},
- {MOTOR_OX_FIL_OPEN, "MOTOR_OX_FIL_OPEN"},
- {MOTOR_OX_FIL_CLOSE, "MOTOR_OX_FIL_CLOSE"},
- {MOTOR_OX_REL_OPEN, "MOTOR_OX_REL_OPEN"},
- {MOTOR_OX_REL_CLOSE, "MOTOR_OX_REL_CLOSE"},
- {MOTOR_OX_DET_OPEN, "MOTOR_OX_DET_OPEN"},
- {MOTOR_OX_DET_CLOSE, "MOTOR_OX_DET_CLOSE"},
- {MOTOR_N2_3W_OPEN, "MOTOR_N2_3W_OPEN"},
- {MOTOR_N2_3W_CLOSE, "MOTOR_N2_3W_CLOSE"},
- {MOTOR_N2_FIL_OPEN, "MOTOR_N2_FIL_OPEN"},
- {MOTOR_N2_FIL_CLOSE, "MOTOR_N2_FIL_CLOSE"},
- {MOTOR_N2_REL_OPEN, "MOTOR_N2_REL_OPEN"},
- {MOTOR_N2_REL_CLOSE, "MOTOR_N2_REL_CLOSE"},
- {MOTOR_N2_DET_OPEN, "MOTOR_N2_DET_OPEN"},
- {MOTOR_N2_DET_CLOSE, "MOTOR_N2_DET_CLOSE"},
- {MOTOR_NITR_OPEN, "MOTOR_NITR_OPEN"},
- {MOTOR_NITR_CLOSE, "MOTOR_NITR_CLOSE"},
- {MOTOR_OX_VEN_OPEN, "MOTOR_OX_VEN_OPEN"},
- {MOTOR_OX_VEN_CLOSE, "MOTOR_OX_VEN_CLOSE"},
- {MOTOR_N2_QUE_OPEN, "MOTOR_N2_QUE_OPEN"},
- {MOTOR_N2_QUE_CLOSE, "MOTOR_N2_QUE_CLOSE"},
- {MOTOR_MAIN_OPEN, "MOTOR_MAIN_OPEN"},
- {MOTOR_MAIN_CLOSE, "MOTOR_MAIN_CLOSE"},
- {MOTOR_IGNITION, "MOTOR_IGNITION"},
- {MOTOR_MANUAL_ACTION, "MOTOR_MANUAL_ACTION"},
- {MOTOR_OPEN_OXIDANT, "MOTOR_OPEN_OXIDANT"},
- {MOTOR_COOLING_TIMEOUT, "MOTOR_COOLING_TIMEOUT"},
- {MOTOR_SHADOW_MODE_TIMEOUT, "MOTOR_SHADOW_MODE_TIMEOUT"},
- {MOTOR_OPEN_CHAMBER, "MOTOR_OPEN_CHAMBER"},
+ {ENGINE_START_TARS, "ENGINE_START_TARS"},
+ {ENGINE_STOP_TARS, "ENGINE_STOP_TARS"},
+ {ENGINE_OX_FIL_OPEN, "ENGINE_OX_FIL_OPEN"},
+ {ENGINE_OX_FIL_CLOSE, "ENGINE_OX_FIL_CLOSE"},
+ {ENGINE_OX_REL_OPEN, "ENGINE_OX_REL_OPEN"},
+ {ENGINE_OX_REL_CLOSE, "ENGINE_OX_REL_CLOSE"},
+ {ENGINE_OX_DET_OPEN, "ENGINE_OX_DET_OPEN"},
+ {ENGINE_OX_DET_CLOSE, "ENGINE_OX_DET_CLOSE"},
+ {ENGINE_N2_3W_OPEN, "ENGINE_N2_3W_OPEN"},
+ {ENGINE_N2_3W_CLOSE, "ENGINE_N2_3W_CLOSE"},
+ {ENGINE_N2_FIL_OPEN, "ENGINE_N2_FIL_OPEN"},
+ {ENGINE_N2_FIL_CLOSE, "ENGINE_N2_FIL_CLOSE"},
+ {ENGINE_N2_REL_OPEN, "ENGINE_N2_REL_OPEN"},
+ {ENGINE_N2_REL_CLOSE, "ENGINE_N2_REL_CLOSE"},
+ {ENGINE_N2_DET_OPEN, "ENGINE_N2_DET_OPEN"},
+ {ENGINE_N2_DET_CLOSE, "ENGINE_N2_DET_CLOSE"},
+ {ENGINE_NITR_OPEN, "ENGINE_NITR_OPEN"},
+ {ENGINE_NITR_CLOSE, "ENGINE_NITR_CLOSE"},
+ {ENGINE_OX_VEN_OPEN, "ENGINE_OX_VEN_OPEN"},
+ {ENGINE_OX_VEN_CLOSE, "ENGINE_OX_VEN_CLOSE"},
+ {ENGINE_N2_QUE_OPEN, "ENGINE_N2_QUE_OPEN"},
+ {ENGINE_N2_QUE_CLOSE, "ENGINE_N2_QUE_CLOSE"},
+ {ENGINE_MAIN_OPEN, "ENGINE_MAIN_OPEN"},
+ {ENGINE_MAIN_CLOSE, "ENGINE_MAIN_CLOSE"},
+ {ENGINE_IGNITION, "ENGINE_IGNITION"},
+ {ENGINE_MANUAL_ACTION, "ENGINE_MANUAL_ACTION"},
+ {ENGINE_OPEN_OXIDANT, "ENGINE_OPEN_OXIDANT"},
+ {ENGINE_COOLING_TIMEOUT, "ENGINE_COOLING_TIMEOUT"},
+ {ENGINE_SHADOW_MODE_TIMEOUT, "ENGINE_SHADOW_MODE_TIMEOUT"},
+ {ENGINE_OPEN_CHAMBER, "ENGINE_OPEN_CHAMBER"},
{TARS_WASHING_DONE, "TARS_WASHING_DONE"},
{TARS_CHECK_PRESSURE_STABILIZE, "TARS_CHECK_PRESSURE_STABILIZE"},
{TARS_PRESSURE_STABILIZED, "TARS_PRESSURE_STABILIZED"},
diff --git a/src/common/Topics.h b/src/common/Topics.h
index 37c83378b8c33e1938504aea4c94ad625728e2af..3033e9f634bfb5868f184a5c76fca1a13d1805a3 100644
--- a/src/common/Topics.h
+++ b/src/common/Topics.h
@@ -42,7 +42,7 @@ enum Topics : uint8_t
TOPIC_FSR,
TOPIC_NAS,
TOPIC_TMTC,
- TOPIC_MOTOR,
+ TOPIC_ENGINE,
TOPIC_TARS,
TOPIC_ALT,
TOPIC_WING,
@@ -51,6 +51,6 @@ enum Topics : uint8_t
const std::vector<uint8_t> TOPICS_LIST{
TOPIC_ABK, TOPIC_ADA, TOPIC_MEA, TOPIC_ARP, TOPIC_DPL,
TOPIC_CAN, TOPIC_FLIGHT, TOPIC_FMM, TOPIC_FSR, TOPIC_NAS,
- TOPIC_TMTC, TOPIC_MOTOR, TOPIC_TARS, TOPIC_ALT, TOPIC_WING};
+ TOPIC_TMTC, TOPIC_ENGINE, TOPIC_TARS, TOPIC_ALT, TOPIC_WING};
} // namespace Common