diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index e09a68a5f03e998b41a80a44a8dd2cf709583994..7ddbe6d3cfb69d79efa8f3e39f22317140329db3 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -25,6 +25,7 @@ set(OBSW_INCLUDE_DIRS
)
set(MAIN_COMPUTER
+ src/boards/Main/Data/ABKTrajectorySet.cpp
src/boards/Main/Sensors/Sensors.cpp
src/boards/Main/AlgoReference/AlgoReference.cpp
src/boards/Main/Radio/Radio.cpp
@@ -34,7 +35,7 @@ set(MAIN_COMPUTER
src/boards/Main/StateMachines/NASController/NASController.cpp
src/boards/Main/StateMachines/ADAController/ADAController.cpp
src/boards/Main/PinHandler/PinHandler.cpp
- # src/boards/Main/StateMachines/ABKController/ABKController.cpp
+ src/boards/Main/StateMachines/ABKController/ABKController.cpp
src/boards/Main/StateMachines/MEAController/MEAController.cpp
src/boards/Main/StatsRecorder/StatsRecorder.cpp
)
diff --git a/src/boards/Main/BoardScheduler.h b/src/boards/Main/BoardScheduler.h
index 11428599a702a4c921d51c74785ca71c7829253f..dfd49ec8d70ba76aa8e01db31ec233d792f00931 100644
--- a/src/boards/Main/BoardScheduler.h
+++ b/src/boards/Main/BoardScheduler.h
@@ -76,6 +76,8 @@ public:
Boardcore::TaskScheduler &getMeaScheduler() { return nas; }
+ Boardcore::TaskScheduler &getAbkScheduler() { return nas; }
+
Boardcore::TaskScheduler &getAdaScheduler() { return ada; }
Boardcore::TaskScheduler &getSensorsScheduler() { return sensors; }
diff --git a/src/boards/Main/Configs/ABKConfig.h b/src/boards/Main/Configs/ABKConfig.h
new file mode 100644
index 0000000000000000000000000000000000000000..522a27e736e19b5cae56baa76e5f4dff9e6aab7d
--- /dev/null
+++ b/src/boards/Main/Configs/ABKConfig.h
@@ -0,0 +1,73 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: Davide Mor
+ *
+ * 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 <algorithms/AirBrakes/AirBrakesInterp.h>
+#include <units/Frequency.h>
+
+#include <cstdint>
+
+namespace Main
+{
+
+namespace Config
+{
+
+namespace ABK
+{
+
+/* linter off */ using namespace Boardcore::Units::Frequency;
+
+constexpr Hertz UPDATE_RATE = 10_hz;
+
+constexpr unsigned int SHADOW_MODE_TIMEOUT = 500; // [ms]
+
+// TODO remove this useless config from interpolation algorithm
+static const Boardcore::AirBrakesConfig BULLSHIT_RANDOM_CONFIG_REMOVE_ME_PLEASE{
+ 0.4884, -1.4391, 6.6940,
+ -18.4272, 29.1044, -24.5585,
+ 8.6058, 9.0426, 159.5995,
+ 4.8188, -208.4471, 47.0771,
+ 1.9433e+03, -205.6689, -6.4634e+03,
+ 331.0332, 8.8763e+03, -161.8111,
+ -3.9917e+03, 2.8025e-06, 0.0373,
+ 20, -0.009216, 0.02492,
+ -0.01627, 0.03191, 0.017671458676443,
+ 0,
+};
+
+static const Boardcore::AirBrakesInterpConfig CONFIG = {
+ .FILTER_MINIMUM_ALTITUDE = 1000,
+ .FILTER_MAXIMUM_ALTITUDE = 3000,
+ .STARTING_FILTER_VALUE = 0.9f,
+ .ABK_CRITICAL_ALTITUDE = 2990,
+ .DZ = 10,
+ .INITIAL_MASS = 26,
+ .DM = 0.4f,
+ .N_FORWARD = 0};
+
+} // namespace ABK
+
+} // namespace Config
+
+} // namespace Main
\ No newline at end of file
diff --git a/src/boards/Main/Configs/SchedulerConfig.h b/src/boards/Main/Configs/SchedulerConfig.h
index 8d3150dc5343025db42a1f2c5a9f9a005e050d7c..1d28559e1fcadbba7cf37ead818450c818cd48d0 100644
--- a/src/boards/Main/Configs/SchedulerConfig.h
+++ b/src/boards/Main/Configs/SchedulerConfig.h
@@ -35,8 +35,10 @@ namespace Scheduler
// Used for NAS related activities (state machines/scheduler)
static const miosix::Priority NAS_PRIORITY = miosix::PRIORITY_MAX - 1;
-// Used for NAS related activities (state machines/scheduler)
+// Used for MEA related activities (state machines/scheduler)
static const miosix::Priority MEA_PRIORITY = miosix::PRIORITY_MAX - 1;
+// Used for ABK related activities (state machines/scheduler)
+static const miosix::Priority ABK_PRIORITY = miosix::PRIORITY_MAX - 1;
// Used for ADA related activities (state machines/scheduler)
static const miosix::Priority ADA_PRIORITY = miosix::PRIORITY_MAX - 1;
// Used for Sensors TaskScheduler
diff --git a/src/boards/Main/Data/ABKTrajectorySet.cpp b/src/boards/Main/Data/ABKTrajectorySet.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..47cecd3afb4c660acdccef980ea46b0fd744bee8
--- /dev/null
+++ b/src/boards/Main/Data/ABKTrajectorySet.cpp
@@ -0,0 +1,6719 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * 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 "ABKTrajectorySet.h"
+
+using namespace Boardcore;
+
+// =============================================
+// WARNING: GEMINI ROCCARASO TRAJECTORIES
+// REMOVE THESE!!!
+// =============================================
+TrajectoryPoint t0_closed[] = {
+ TrajectoryPoint(0, 291.697688278318),
+ TrajectoryPoint(10, 290.984535447996),
+ TrajectoryPoint(20, 290.272554676878),
+ TrajectoryPoint(30, 289.561766863639),
+ TrajectoryPoint(40, 288.852030395801),
+ TrajectoryPoint(50, 288.143059351263),
+ TrajectoryPoint(60, 287.435031702346),
+ TrajectoryPoint(70, 286.728110939376),
+ TrajectoryPoint(80, 286.021892458837),
+ TrajectoryPoint(90, 285.316377182964),
+ TrajectoryPoint(100, 284.612028614926),
+ TrajectoryPoint(110, 283.908322286167),
+ TrajectoryPoint(120, 283.205255534554),
+ TrajectoryPoint(130, 282.50308711451),
+ TrajectoryPoint(140, 281.801667911645),
+ TrajectoryPoint(150, 281.1008305958),
+ TrajectoryPoint(160, 280.400637653825),
+ TrajectoryPoint(170, 279.701294671578),
+ TrajectoryPoint(180, 279.002478787265),
+ TrajectoryPoint(190, 278.304185227024),
+ TrajectoryPoint(200, 277.606610031429),
+ TrajectoryPoint(210, 276.909620330855),
+ TrajectoryPoint(220, 276.213100610647),
+ TrajectoryPoint(230, 275.517059820918),
+ TrajectoryPoint(240, 274.82171272541),
+ TrajectoryPoint(250, 274.126785845519),
+ TrajectoryPoint(260, 273.43227319665),
+ TrajectoryPoint(270, 272.738247390128),
+ TrajectoryPoint(280, 272.044742814953),
+ TrajectoryPoint(290, 271.351605000273),
+ TrajectoryPoint(300, 270.658827282562),
+ TrajectoryPoint(310, 269.966503330181),
+ TrajectoryPoint(320, 269.274581563642),
+ TrajectoryPoint(330, 268.582974629793),
+ TrajectoryPoint(340, 267.891675380714),
+ TrajectoryPoint(350, 267.200770381043),
+ TrajectoryPoint(360, 266.510185961775),
+ TrajectoryPoint(370, 265.819866035091),
+ TrajectoryPoint(380, 265.129803108316),
+ TrajectoryPoint(390, 264.440060197535),
+ TrajectoryPoint(400, 263.750580678499),
+ TrajectoryPoint(410, 263.061316875416),
+ TrajectoryPoint(420, 262.372261048453),
+ TrajectoryPoint(430, 261.683445809333),
+ TrajectoryPoint(440, 260.994850482844),
+ TrajectoryPoint(450, 260.306423575181),
+ TrajectoryPoint(460, 259.618157164805),
+ TrajectoryPoint(470, 258.93005453962),
+ TrajectoryPoint(480, 258.242133161705),
+ TrajectoryPoint(490, 257.554334259916),
+ TrajectoryPoint(500, 256.866649771936),
+ TrajectoryPoint(510, 256.179071425476),
+ TrajectoryPoint(520, 255.491612941993),
+ TrajectoryPoint(530, 254.80424221825),
+ TrajectoryPoint(540, 254.116941049339),
+ TrajectoryPoint(550, 253.429701072041),
+ TrajectoryPoint(560, 252.742514410224),
+ TrajectoryPoint(570, 252.055379875809),
+ TrajectoryPoint(580, 251.368271078778),
+ TrajectoryPoint(590, 250.681179566394),
+ TrajectoryPoint(600, 249.99409673583),
+ TrajectoryPoint(610, 249.307013259786),
+ TrajectoryPoint(620, 248.619912378961),
+ TrajectoryPoint(630, 247.932785721418),
+ TrajectoryPoint(640, 247.245624600031),
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+ TrajectoryPoint(660, 245.871163580697),
+ TrajectoryPoint(670, 245.183824700715),
+ TrajectoryPoint(680, 244.496407515798),
+ TrajectoryPoint(690, 243.808904442685),
+ TrajectoryPoint(700, 243.121306454657),
+ TrajectoryPoint(710, 242.433604414687),
+ TrajectoryPoint(720, 241.745776514132),
+ TrajectoryPoint(730, 241.057801409348),
+ TrajectoryPoint(740, 240.369689078822),
+ TrajectoryPoint(750, 239.681430271073),
+ TrajectoryPoint(760, 238.993015629897),
+ TrajectoryPoint(770, 238.30443569757),
+ TrajectoryPoint(780, 237.61566492373),
+ TrajectoryPoint(790, 236.926679238592),
+ TrajectoryPoint(800, 236.237495318523),
+ TrajectoryPoint(810, 235.548103559551),
+ TrajectoryPoint(820, 234.858494256803),
+ TrajectoryPoint(830, 234.16865760621),
+ TrajectoryPoint(840, 233.478583705918),
+ TrajectoryPoint(850, 232.788224228347),
+ TrajectoryPoint(860, 232.097591757854),
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+ TrajectoryPoint(1650, 175.67380352185),
+ TrajectoryPoint(1660, 174.919946988324),
+ TrajectoryPoint(1670, 174.164603909805),
+ TrajectoryPoint(1680, 173.407715382908),
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+ TrajectoryPoint(1750, 168.063764499078),
+ TrajectoryPoint(1760, 167.293498806744),
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+ TrajectoryPoint(2500, 101.922074803322),
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+ TrajectoryPoint(2520, 99.753962254038),
+ TrajectoryPoint(2530, 98.6555707239711),
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+ TrajectoryPoint(2750, 71.0958831964234),
+ TrajectoryPoint(2760, 69.6212360147459),
+ TrajectoryPoint(2770, 68.1180465393934),
+ TrajectoryPoint(2780, 66.5843147037006),
+ TrajectoryPoint(2790, 65.0178549168622),
+ TrajectoryPoint(2800, 63.4162742978174),
+ TrajectoryPoint(2810, 61.7767195677176),
+ TrajectoryPoint(2820, 60.095624802691),
+ TrajectoryPoint(2830, 58.3702755230403),
+ TrajectoryPoint(2840, 56.5962574251198),
+ TrajectoryPoint(2850, 54.7686724086359),
+ TrajectoryPoint(2860, 52.8819145270167),
+ TrajectoryPoint(2870, 50.9298307741777),
+ TrajectoryPoint(2880, 48.9042896236109),
+ TrajectoryPoint(2890, 46.7957762132094),
+ TrajectoryPoint(2900, 44.5930868834589),
+ TrajectoryPoint(2910, 42.2799660800708),
+ TrajectoryPoint(2920, 39.8388300333339),
+ TrajectoryPoint(2930, 37.2438952999428),
+ TrajectoryPoint(2940, 34.4609033921338),
+ TrajectoryPoint(2950, 31.4390325302813),
+ TrajectoryPoint(2960, 28.1028168888058),
+ TrajectoryPoint(2970, 24.3209267802065),
+ TrajectoryPoint(2980, 19.8437772488535),
+ TrajectoryPoint(2990, 14.0194488542204),
+ TrajectoryPoint(3000, 0),
+};
+TrajectoryPoint t1_closed[] = {
+ TrajectoryPoint(0, 290.829077875845),
+ TrajectoryPoint(10, 290.122172054902),
+ TrajectoryPoint(20, 289.417015425694),
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+ TrajectoryPoint(500, 359.96517352999),
+ TrajectoryPoint(510, 357.455093724086),
+ TrajectoryPoint(520, 355.348197134573),
+ TrajectoryPoint(530, 353.252393456111),
+ TrajectoryPoint(540, 351.175078400194),
+ TrajectoryPoint(550, 349.115878760635),
+ TrajectoryPoint(560, 347.068068456201),
+ TrajectoryPoint(570, 345.045800289188),
+ TrajectoryPoint(580, 343.031547422433),
+ TrajectoryPoint(590, 341.042113320263),
+ TrajectoryPoint(600, 339.065240520618),
+ TrajectoryPoint(610, 337.104510448929),
+ TrajectoryPoint(620, 335.16489310986),
+ TrajectoryPoint(630, 333.234438315107),
+ TrajectoryPoint(640, 331.329820650795),
+ TrajectoryPoint(650, 329.436465099355),
+ TrajectoryPoint(660, 327.559156619376),
+ TrajectoryPoint(670, 325.702428142714),
+ TrajectoryPoint(680, 323.85557052489),
+ TrajectoryPoint(690, 322.03120515252),
+ TrajectoryPoint(700, 320.22034174233),
+ TrajectoryPoint(710, 318.42156035764),
+ TrajectoryPoint(720, 316.645977843989),
+ TrajectoryPoint(730, 314.880556091739),
+ TrajectoryPoint(740, 313.131088455255),
+ TrajectoryPoint(750, 311.399977152901),
+ TrajectoryPoint(760, 309.679234135061),
+ TrajectoryPoint(770, 307.976559372075),
+ TrajectoryPoint(780, 306.289002002157),
+ TrajectoryPoint(790, 304.611889946481),
+ TrajectoryPoint(800, 302.953480918199),
+ TrajectoryPoint(810, 301.30831584618),
+ TrajectoryPoint(820, 299.673558817451),
+ TrajectoryPoint(830, 298.056926497617),
+ TrajectoryPoint(840, 296.452799902787),
+ TrajectoryPoint(850, 294.858947677273),
+ TrajectoryPoint(860, 293.281672151523),
+ TrajectoryPoint(870, 291.717086660583),
+ TrajectoryPoint(880, 290.162563165204),
+ TrajectoryPoint(890, 288.622314355422),
+ TrajectoryPoint(900, 287.095672187055),
+ TrajectoryPoint(910, 285.578817365454),
+ TrajectoryPoint(920, 284.073367989725),
+ TrajectoryPoint(930, 282.583007864105),
+ TrajectoryPoint(940, 281.102112770061),
+ TrajectoryPoint(950, 279.630758236028),
+ TrajectoryPoint(960, 278.173573340556),
+ TrajectoryPoint(970, 276.726908807597),
+ TrajectoryPoint(980, 275.289399903134),
+ TrajectoryPoint(990, 273.861933024617),
+ TrajectoryPoint(1000, 272.447772545876),
+ TrajectoryPoint(1010, 271.042363211029),
+ TrajectoryPoint(1020, 269.645713857881),
+ TrajectoryPoint(1030, 268.259416145023),
+ TrajectoryPoint(1040, 266.884388927358),
+ TrajectoryPoint(1050, 265.517689457257),
+ TrajectoryPoint(1060, 264.159297075147),
+ TrajectoryPoint(1070, 262.810401456445),
+ TrajectoryPoint(1080, 261.471973382954),
+ TrajectoryPoint(1090, 260.141407378488),
+ TrajectoryPoint(1100, 258.818661167124),
+ TrajectoryPoint(1110, 257.50374196031),
+ TrajectoryPoint(1120, 256.19938316929),
+ TrajectoryPoint(1130, 254.902397498311),
+ TrajectoryPoint(1140, 253.612727313536),
+ TrajectoryPoint(1150, 252.330307574502),
+ TrajectoryPoint(1160, 251.055901535551),
+ TrajectoryPoint(1170, 249.790004566058),
+ TrajectoryPoint(1180, 248.530914611193),
+ TrajectoryPoint(1190, 247.278557822622),
+ TrajectoryPoint(1200, 246.032855218356),
+ TrajectoryPoint(1210, 244.79409852499),
+ TrajectoryPoint(1220, 243.563189267312),
+ TrajectoryPoint(1230, 242.338504308903),
+ TrajectoryPoint(1240, 241.119960447176),
+ TrajectoryPoint(1250, 239.907471011398),
+ TrajectoryPoint(1260, 238.700946270742),
+ TrajectoryPoint(1270, 237.500795833456),
+ TrajectoryPoint(1280, 236.307150610324),
+ TrajectoryPoint(1290, 235.11906179317),
+ TrajectoryPoint(1300, 233.936439330976),
+ TrajectoryPoint(1310, 232.7591912061),
+ TrajectoryPoint(1320, 231.587223712272),
+ TrajectoryPoint(1330, 230.420441709896),
+ TrajectoryPoint(1340, 229.259148539798),
+ TrajectoryPoint(1350, 228.103232170912),
+ TrajectoryPoint(1360, 226.952123313007),
+ TrajectoryPoint(1370, 225.805729230627),
+ TrajectoryPoint(1380, 224.663956382881),
+ TrajectoryPoint(1390, 223.526710593903),
+ TrajectoryPoint(1400, 222.393897208411),
+ TrajectoryPoint(1410, 221.265421233403),
+ TrajectoryPoint(1420, 220.141187467015),
+ TrajectoryPoint(1430, 219.021233023768),
+ TrajectoryPoint(1440, 217.905588185767),
+ TrajectoryPoint(1450, 216.793848586491),
+ TrajectoryPoint(1460, 215.685923056781),
+ TrajectoryPoint(1470, 214.581720479421),
+ TrajectoryPoint(1480, 213.481149872129),
+ TrajectoryPoint(1490, 212.384120462279),
+ TrajectoryPoint(1500, 211.290541753955),
+ TrajectoryPoint(1510, 210.20032358792),
+ TrajectoryPoint(1520, 209.113376195043),
+ TrajectoryPoint(1530, 208.029610243676),
+ TrajectoryPoint(1540, 206.94893688144),
+ TrajectoryPoint(1550, 205.871267771864),
+ TrajectoryPoint(1560, 204.796515126263),
+ TrajectoryPoint(1570, 203.724591731232),
+ TrajectoryPoint(1580, 202.655410972087),
+ TrajectoryPoint(1590, 201.588886852589),
+ TrajectoryPoint(1600, 200.524934011226),
+ TrajectoryPoint(1610, 199.463467734333),
+ TrajectoryPoint(1620, 198.404403966303),
+ TrajectoryPoint(1630, 197.347659317119),
+ TrajectoryPoint(1640, 196.293151067417),
+ TrajectoryPoint(1650, 195.240797171292),
+ TrajectoryPoint(1660, 194.190516257014),
+ TrajectoryPoint(1670, 193.142227625834),
+ TrajectoryPoint(1680, 192.095851249037),
+ TrajectoryPoint(1690, 191.051307763377),
+ TrajectoryPoint(1700, 190.008518465042),
+ TrajectoryPoint(1710, 188.967405302252),
+ TrajectoryPoint(1720, 187.927890866627),
+ TrajectoryPoint(1730, 186.889898383407),
+ TrajectoryPoint(1740, 185.853351700636),
+ TrajectoryPoint(1750, 184.818175277385),
+ TrajectoryPoint(1760, 183.784294171116),
+ TrajectoryPoint(1770, 182.751634024235),
+ TrajectoryPoint(1780, 181.720168609434),
+ TrajectoryPoint(1790, 180.689812288416),
+ TrajectoryPoint(1800, 179.66044924951),
+ TrajectoryPoint(1810, 178.632006730962),
+ TrajectoryPoint(1820, 177.604412501373),
+ TrajectoryPoint(1830, 176.57759484109),
+ TrajectoryPoint(1840, 175.55148252326),
+ TrajectoryPoint(1850, 174.526004794586),
+ TrajectoryPoint(1860, 173.501115239535),
+ TrajectoryPoint(1870, 172.476743847208),
+ TrajectoryPoint(1880, 171.452783953506),
+ TrajectoryPoint(1890, 170.429166085466),
+ TrajectoryPoint(1900, 169.405821153207),
+ TrajectoryPoint(1910, 168.382680428381),
+ TrajectoryPoint(1920, 167.359680378797),
+ TrajectoryPoint(1930, 166.336739340616),
+ TrajectoryPoint(1940, 165.31378142889),
+ TrajectoryPoint(1950, 164.290738799321),
+ TrajectoryPoint(1960, 163.267543862616),
+ TrajectoryPoint(1970, 162.244094930694),
+ TrajectoryPoint(1980, 161.220331329289),
+ TrajectoryPoint(1990, 160.196194585778),
+ TrajectoryPoint(2000, 159.171617585945),
+ TrajectoryPoint(2010, 158.14646984128),
+ TrajectoryPoint(2020, 157.1206950169),
+ TrajectoryPoint(2030, 156.094257982536),
+ TrajectoryPoint(2040, 155.067091728417),
+ TrajectoryPoint(2050, 154.038970284744),
+ TrajectoryPoint(2060, 153.009962311022),
+ TrajectoryPoint(2070, 151.980000993778),
+ TrajectoryPoint(2080, 150.94886791541),
+ TrajectoryPoint(2090, 149.916563606587),
+ TrajectoryPoint(2100, 148.883079016713),
+ TrajectoryPoint(2110, 147.848156860492),
+ TrajectoryPoint(2120, 146.811814586722),
+ TrajectoryPoint(2130, 145.774061504007),
+ TrajectoryPoint(2140, 144.734524178334),
+ TrajectoryPoint(2150, 143.693383873525),
+ TrajectoryPoint(2160, 142.650473942006),
+ TrajectoryPoint(2170, 141.605569649245),
+ TrajectoryPoint(2180, 140.558850193436),
+ TrajectoryPoint(2190, 139.509842015929),
+ TrajectoryPoint(2200, 138.458798527447),
+ TrajectoryPoint(2210, 137.405390288739),
+ TrajectoryPoint(2220, 136.349620653461),
+ TrajectoryPoint(2230, 135.29136881595),
+ TrajectoryPoint(2240, 134.230458681574),
+ TrajectoryPoint(2250, 133.166895549986),
+ TrajectoryPoint(2260, 132.100417427986),
+ TrajectoryPoint(2270, 131.031050298988),
+ TrajectoryPoint(2280, 129.958562568277),
+ TrajectoryPoint(2290, 128.882872666284),
+ TrajectoryPoint(2300, 127.803918477935),
+ TrajectoryPoint(2310, 126.721359680572),
+ TrajectoryPoint(2320, 125.635456837382),
+ TrajectoryPoint(2330, 124.545463115329),
+ TrajectoryPoint(2340, 123.451804366283),
+ TrajectoryPoint(2350, 122.354086491803),
+ TrajectoryPoint(2360, 121.252046620846),
+ TrajectoryPoint(2370, 120.145847002057),
+ TrajectoryPoint(2380, 119.035001936047),
+ TrajectoryPoint(2390, 117.919396404239),
+ TrajectoryPoint(2400, 116.799071770053),
+ TrajectoryPoint(2410, 115.673701911932),
+ TrajectoryPoint(2420, 114.542850038388),
+ TrajectoryPoint(2430, 113.406658493024),
+ TrajectoryPoint(2440, 112.264900901334),
+ TrajectoryPoint(2450, 111.11731252657),
+ TrajectoryPoint(2460, 109.963336845355),
+ TrajectoryPoint(2470, 108.803079371893),
+ TrajectoryPoint(2480, 107.636275642949),
+ TrajectoryPoint(2490, 106.462649873934),
+ TrajectoryPoint(2500, 105.281914456613),
+ TrajectoryPoint(2510, 104.093769419095),
+ TrajectoryPoint(2520, 102.897901846072),
+ TrajectoryPoint(2530, 101.693985257039),
+ TrajectoryPoint(2540, 100.481678939984),
+ TrajectoryPoint(2550, 99.2606272377635),
+ TrajectoryPoint(2560, 98.030458784094),
+ TrajectoryPoint(2570, 96.7907856857777),
+ TrajectoryPoint(2580, 95.5412026474347),
+ TrajectoryPoint(2590, 94.28128603465),
+ TrajectoryPoint(2600, 93.0105928710332),
+ TrajectoryPoint(2610, 91.7286597642455),
+ TrajectoryPoint(2620, 90.4350017555611),
+ TrajectoryPoint(2630, 89.1291110869938),
+ TrajectoryPoint(2640, 87.8097765047788),
+ TrajectoryPoint(2650, 86.4770054736807),
+ TrajectoryPoint(2660, 85.1302076335847),
+ TrajectoryPoint(2670, 83.7680579887443),
+ TrajectoryPoint(2680, 82.3901552061626),
+ TrajectoryPoint(2690, 80.9957986190593),
+ TrajectoryPoint(2700, 79.5834474013435),
+ TrajectoryPoint(2710, 78.1528718006597),
+ TrajectoryPoint(2720, 76.7022861821182),
+ TrajectoryPoint(2730, 75.2308896339259),
+ TrajectoryPoint(2740, 73.7376469781135),
+ TrajectoryPoint(2750, 72.2202534538853),
+ TrajectoryPoint(2760, 70.6777576179105),
+ TrajectoryPoint(2770, 69.1084324674704),
+ TrajectoryPoint(2780, 67.5102590787228),
+ TrajectoryPoint(2790, 65.8810271113061),
+ TrajectoryPoint(2800, 64.2183124281507),
+ TrajectoryPoint(2810, 62.5194514367167),
+ TrajectoryPoint(2820, 60.7815115819673),
+ TrajectoryPoint(2830, 59.0005277688878),
+ TrajectoryPoint(2840, 57.1725121532777),
+ TrajectoryPoint(2850, 55.2932732404973),
+ TrajectoryPoint(2860, 53.356806940717),
+ TrajectoryPoint(2870, 51.3564136402496),
+ TrajectoryPoint(2880, 49.2847653908511),
+ TrajectoryPoint(2890, 47.1323658813152),
+ TrajectoryPoint(2900, 44.8872122583775),
+ TrajectoryPoint(2910, 42.5343820041368),
+ TrajectoryPoint(2920, 40.0551966620442),
+ TrajectoryPoint(2930, 37.4247238668615),
+ TrajectoryPoint(2940, 34.607880499359),
+ TrajectoryPoint(2950, 31.554947121852),
+ TrajectoryPoint(2960, 28.1902709533103),
+ TrajectoryPoint(2970, 24.3821827987399),
+ TrajectoryPoint(2980, 19.8815665988451),
+ TrajectoryPoint(2990, 14.0365991419119),
+ TrajectoryPoint(3000, 0),
+};
+Trajectory t_closed[] = {
+ Trajectory{0.0, t0_closed, 301}, Trajectory{0.0, t1_closed, 301},
+ Trajectory{0.0, t2_closed, 301}, Trajectory{0.0, t3_closed, 301},
+ Trajectory{0.0, t4_closed, 301}, Trajectory{0.0, t5_closed, 301},
+ Trajectory{0.0, t6_closed, 301}, Trajectory{0.0, t7_closed, 301},
+ Trajectory{0.0, t8_closed, 301}, Trajectory{0.0, t9_closed, 301},
+ Trajectory{0.0, t10_closed, 301},
+};
+Trajectory t_open[] = {
+ Trajectory{0.0, t0_open, 301}, Trajectory{0.0, t1_open, 301},
+ Trajectory{0.0, t2_open, 301}, Trajectory{0.0, t3_open, 301},
+ Trajectory{0.0, t4_open, 301}, Trajectory{0.0, t5_open, 301},
+ Trajectory{0.0, t6_open, 301}, Trajectory{0.0, t7_open, 301},
+ Trajectory{0.0, t8_open, 301}, Trajectory{0.0, t9_open, 301},
+ Trajectory{0.0, t10_open, 301},
+};
+// =============================================
+// WARNING: GEMINI ROCCARASO TRAJECTORIES
+// REMOVE THESE!!!
+// =============================================
+
+TrajectorySet Main::Data::ABK::CLOSED_TRAJECTORY_SET{t_closed, 11};
+TrajectorySet Main::Data::ABK::OPEN_TRAJECTORY_SET{t_open, 11};
diff --git a/src/boards/Main/Data/ABKTrajectorySet.h b/src/boards/Main/Data/ABKTrajectorySet.h
new file mode 100644
index 0000000000000000000000000000000000000000..760b7c3732293b242305b6ac46ffc367320852ae
--- /dev/null
+++ b/src/boards/Main/Data/ABKTrajectorySet.h
@@ -0,0 +1,43 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * 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 <algorithms/AirBrakes/TrajectorySet.h>
+
+namespace Main
+{
+
+namespace Data
+{
+
+namespace ABK
+{
+
+extern Boardcore::TrajectorySet CLOSED_TRAJECTORY_SET;
+extern Boardcore::TrajectorySet OPEN_TRAJECTORY_SET;
+
+} // namespace ABK
+
+} // namespace Data
+
+} // namespace Main
\ No newline at end of file
diff --git a/src/boards/Main/Radio/Radio.cpp b/src/boards/Main/Radio/Radio.cpp
index c71ceed70a8c354d844271fe074f86486bb7a594..7379f569c536edf644b0de6feada5cef8f57aeaa 100644
--- a/src/boards/Main/Radio/Radio.cpp
+++ b/src/boards/Main/Radio/Radio.cpp
@@ -611,6 +611,7 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
ADAController* ada = getModule<ADAController>();
NASController* nas = getModule<NASController>();
MEAController* mea = getModule<MEAController>();
+ ABKController* abk = getModule<ABKController>();
Actuators* actuators = getModule<Actuators>();
StatsRecorder* recorder = getModule<StatsRecorder>();
@@ -655,7 +656,7 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
// FMM states
tm.ada_state = static_cast<uint8_t>(ada->getState());
tm.fmm_state = static_cast<uint8_t>(fmm->getState());
- tm.abk_state = 255; // TODO
+ tm.abk_state = static_cast<uint8_t>(abk->getState());
tm.nas_state = static_cast<uint8_t>(nas->getState());
tm.mea_state = static_cast<uint8_t>(mea->getState());
diff --git a/src/boards/Main/Radio/Radio.h b/src/boards/Main/Radio/Radio.h
index 4a77c99b27b796be68d02bcabc572037ea82947b..fff2e20e830532f1aaa9243fa827a4a16d4e1d7d 100644
--- a/src/boards/Main/Radio/Radio.h
+++ b/src/boards/Main/Radio/Radio.h
@@ -30,6 +30,7 @@
#include <Main/Configs/RadioConfig.h>
#include <Main/PinHandler/PinHandler.h>
#include <Main/Sensors/Sensors.h>
+#include <Main/StateMachines/ABKController/ABKController.h>
#include <Main/StateMachines/ADAController/ADAController.h>
#include <Main/StateMachines/FlightModeManager/FlightModeManager.h>
#include <Main/StateMachines/MEAController/MEAController.h>
@@ -49,7 +50,7 @@ using MavDriver = Boardcore::MavlinkDriver<Boardcore::SX1278Fsk::MTU,
class Radio : public Boardcore::InjectableWithDeps<
Buses, BoardScheduler, Actuators, PinHandler, CanHandler,
Sensors, FlightModeManager, ADAController, NASController,
- MEAController, StatsRecorder, AlgoReference>
+ MEAController, ABKController, StatsRecorder, AlgoReference>
{
public:
Radio() {}
diff --git a/src/boards/Main/StateMachines/ABKController/ABKController.cpp b/src/boards/Main/StateMachines/ABKController/ABKController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..585448bfdd26306e56c06080a3920e63595cdf5a
--- /dev/null
+++ b/src/boards/Main/StateMachines/ABKController/ABKController.cpp
@@ -0,0 +1,232 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * 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 "ABKController.h"
+
+#include <Main/Configs/ABKConfig.h>
+#include <Main/Configs/SchedulerConfig.h>
+#include <Main/Data/ABKTrajectorySet.h>
+#include <common/Events.h>
+#include <common/Topics.h>
+#include <events/EventBroker.h>
+
+using namespace Boardcore;
+using namespace Main;
+using namespace miosix;
+using namespace Common;
+
+ABKController::ABKController()
+ : FSM(&ABKController::state_init, STACK_DEFAULT_FOR_PTHREAD,
+ Config::Scheduler::ABK_PRIORITY),
+ abk{[this]() {
+ return TimedTrajectoryPoint{
+ getModule<NASController>()->getNASState()};
+ },
+ Data::ABK::OPEN_TRAJECTORY_SET,
+ Data::ABK::CLOSED_TRAJECTORY_SET,
+ Config::ABK::BULLSHIT_RANDOM_CONFIG_REMOVE_ME_PLEASE,
+ Config::ABK::CONFIG,
+ [this](float position)
+ { getModule<Actuators>()->setAbkPosition(position); }}
+
+{
+ EventBroker::getInstance().subscribe(this, TOPIC_ABK);
+ EventBroker::getInstance().subscribe(this, TOPIC_FLIGHT);
+}
+
+bool ABKController::start()
+{
+ TaskScheduler& scheduler = getModule<BoardScheduler>()->getAbkScheduler();
+
+ uint8_t result =
+ scheduler.addTask([this]() { update(); }, Config::ABK::UPDATE_RATE);
+
+ if (result == 0)
+ {
+ LOG_ERR(logger, "Failed to add ABK update task");
+ return false;
+ }
+
+ if (!FSM::start())
+ {
+ LOG_ERR(logger, "Failed to start ABK FSM");
+ return false;
+ }
+
+ return true;
+}
+
+ABKControllerState ABKController::getState() { return state; }
+
+void ABKController::update()
+{
+ ABKControllerState curState = state;
+
+ if (!abk.isRunning() && curState == ABKControllerState::ACTIVE)
+ {
+ // We transitioned into ACTIVE, start up the algorithm
+ abk.begin(getModule<MEAController>()->getMEAState().estimatedMass);
+ }
+
+ if (abk.isRunning() && curState == ABKControllerState::END)
+ {
+ // We transitioned into END, shut down the algorithm
+ abk.end();
+ }
+
+ if (curState == ABKControllerState::ACTIVE)
+ {
+ // Normal update
+ abk.update();
+ }
+}
+
+void ABKController::state_init(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::INIT);
+
+ // Immediately transition to ready
+ transition(&ABKController::state_ready);
+ break;
+ }
+ }
+}
+
+void ABKController::state_ready(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::READY);
+ break;
+ }
+
+ case FLIGHT_ARMED:
+ {
+ transition(&ABKController::state_armed);
+ break;
+ }
+ }
+}
+
+void ABKController::state_armed(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::ARMED);
+ break;
+ }
+
+ case FLIGHT_DISARMED:
+ {
+ transition(&ABKController::state_ready);
+ break;
+ }
+
+ case FLIGHT_MOTOR_SHUTDOWN:
+ {
+ // Enable only after motor shutdown
+ transition(&ABKController::state_shadow_mode);
+ break;
+ }
+ }
+}
+
+void ABKController::state_shadow_mode(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::SHADOW_MODE);
+
+ shadowModeTimeoutEvent = EventBroker::getInstance().postDelayed(
+ ABK_SHADOW_MODE_TIMEOUT, TOPIC_ABK,
+ Config::ABK::SHADOW_MODE_TIMEOUT);
+ break;
+ }
+
+ case EV_EXIT:
+ {
+ EventBroker::getInstance().removeDelayed(shadowModeTimeoutEvent);
+ break;
+ }
+
+ case ABK_SHADOW_MODE_TIMEOUT:
+ {
+ transition(&ABKController::state_active);
+ break;
+ }
+
+ case FLIGHT_APOGEE_DETECTED:
+ case FLIGHT_LANDING_DETECTED:
+ {
+ transition(&ABKController::state_end);
+ break;
+ }
+ }
+}
+
+void ABKController::state_active(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::ACTIVE);
+ break;
+ }
+
+ case FLIGHT_APOGEE_DETECTED:
+ case FLIGHT_LANDING_DETECTED:
+ {
+ transition(&ABKController::state_end);
+ break;
+ }
+ }
+}
+
+void ABKController::state_end(const Event& event)
+{
+ switch (event)
+ {
+ case EV_ENTRY:
+ {
+ updateAndLogStatus(ABKControllerState::END);
+ break;
+ }
+ }
+}
+
+void ABKController::updateAndLogStatus(ABKControllerState state)
+{
+ this->state = state;
+ ABKControllerStatus data = {TimestampTimer::getTimestamp(), state};
+ sdLogger.log(data);
+}
\ No newline at end of file
diff --git a/src/boards/Main/StateMachines/ABKController/ABKController.h b/src/boards/Main/StateMachines/ABKController/ABKController.h
new file mode 100644
index 0000000000000000000000000000000000000000..949244d0f42d91b3eb004d0026b8653e9798166c
--- /dev/null
+++ b/src/boards/Main/StateMachines/ABKController/ABKController.h
@@ -0,0 +1,72 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * 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 <Main/Actuators/Actuators.h>
+#include <Main/BoardScheduler.h>
+#include <Main/StateMachines/ABKController/ABKControllerData.h>
+#include <Main/StateMachines/MEAController/MEAController.h>
+#include <Main/StateMachines/NASController/NASController.h>
+#include <algorithms/AirBrakes/AirBrakesInterp.h>
+#include <events/FSM.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace Main
+{
+
+class ABKController
+ : public Boardcore::FSM<ABKController>,
+ public Boardcore::InjectableWithDeps<BoardScheduler, Actuators,
+ NASController, MEAController>
+{
+public:
+ ABKController();
+
+ [[nodiscard]] bool start() override;
+
+ ABKControllerState getState();
+
+private:
+ void update();
+
+ // FSM states
+ void state_init(const Boardcore::Event& event);
+ void state_ready(const Boardcore::Event& event);
+ void state_armed(const Boardcore::Event& event);
+ void state_shadow_mode(const Boardcore::Event& event);
+ void state_active(const Boardcore::Event& event);
+ void state_end(const Boardcore::Event& event);
+
+ void updateAndLogStatus(ABKControllerState state);
+
+ std::atomic<ABKControllerState> state{ABKControllerState::INIT};
+
+ Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("abk");
+
+ uint16_t shadowModeTimeoutEvent = 0;
+
+ Boardcore::AirBrakesInterp abk;
+};
+
+} // namespace Main
\ No newline at end of file
diff --git a/src/boards/Main/StateMachines/ABKController/ABKControllerData.h b/src/boards/Main/StateMachines/ABKController/ABKControllerData.h
new file mode 100644
index 0000000000000000000000000000000000000000..c4d17d0b21ddc16589f6e72085a5c107476f6c7b
--- /dev/null
+++ b/src/boards/Main/StateMachines/ABKController/ABKControllerData.h
@@ -0,0 +1,55 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * 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 <cstdint>
+#include <ostream>
+#include <string>
+
+namespace Main
+{
+
+enum class ABKControllerState : uint8_t
+{
+ INIT = 0,
+ READY,
+ ARMED,
+ SHADOW_MODE,
+ ACTIVE,
+ END
+};
+
+struct ABKControllerStatus
+{
+ uint64_t timestamp = 0;
+ ABKControllerState state = ABKControllerState::INIT;
+
+ static std::string header() { return "timestamp,state\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << static_cast<int>(state) << "\n";
+ }
+};
+
+} // namespace Main
\ No newline at end of file
diff --git a/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp b/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
index c9a5ccfea876690e9cf7795e455121bb77d48317..cd0b24a7f7e642b5cf60920671b05e91cf746cde 100644
--- a/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
+++ b/src/boards/Main/StateMachines/FlightModeManager/FlightModeManager.cpp
@@ -143,7 +143,8 @@ State FlightModeManager::state_init_error(const Event& event)
}
case TMTC_FORCE_INIT:
{
- getModule<CanHandler>()->sendEvent(CanConfig::EventId::FORCE_INIT);
+ // This doesn't make much sense
+ // getModule<CanHandler>()->sendEvent(CanConfig::EventId::FORCE_INIT);
return transition(&FlightModeManager::state_init_done);
}
default:
diff --git a/src/entrypoints/Main/main-entry.cpp b/src/entrypoints/Main/main-entry.cpp
index 63e2ceadef0d8005723330409eaafce400a63a90..b12d5c46198826e399136a8d7a66df5850f95f7c 100644
--- a/src/entrypoints/Main/main-entry.cpp
+++ b/src/entrypoints/Main/main-entry.cpp
@@ -28,6 +28,7 @@
#include <Main/PinHandler/PinHandler.h>
#include <Main/Radio/Radio.h>
#include <Main/Sensors/Sensors.h>
+#include <Main/StateMachines/ABKController/ABKController.h>
#include <Main/StateMachines/ADAController/ADAController.h>
#include <Main/StateMachines/FlightModeManager/FlightModeManager.h>
#include <Main/StateMachines/MEAController/MEAController.h>
@@ -68,6 +69,7 @@ int main()
ADAController *ada = new ADAController();
NASController *nas = new NASController();
MEAController *mea = new MEAController();
+ ABKController *abk = new ABKController();
StatsRecorder *recorder = new StatsRecorder();
Logger &sdLogger = Logger::getInstance();
@@ -95,6 +97,7 @@ int main()
manager.insert<ADAController>(ada) &&
manager.insert<NASController>(nas) &&
manager.insert<MEAController>(mea) &&
+ manager.insert<ABKController>(abk) &&
manager.insert<StatsRecorder>(recorder) && manager.inject();
manager.graphviz(std::cout);
@@ -183,6 +186,12 @@ int main()
std::cout << "Error failed to start MEAController" << std::endl;
}
+ if (!abk->start())
+ {
+ initResult = false;
+ std::cout << "Error failed to start ABKController" << std::endl;
+ }
+
if (!fmm->start())
{
initResult = false;