From d52a8d96a9de0f35525ae7ddf82457f0e706db20 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Sun, 17 Jul 2022 11:43:27 +0000
Subject: [PATCH] [Parafoil] Updated implementation to match the main computer
---
.vscode/c_cpp_properties.json | 64 +-
.vscode/settings.json | 21 +-
CMakeLists.txt | 43 +-
cmake/dependencies.cmake | 30 +-
skyward-boardcore | 2 +-
src/boards/Parafoil/Actuators/Actuators.cpp | 150 +
src/boards/Parafoil/Actuators/Actuators.h | 77 +
.../lynx_airspeed_data.h => BoardScheduler.h} | 30 +-
.../{Configs/XbeeConfig.h => Buses.h} | 40 +-
.../ActuatorsConfigs.h} | 61 +-
src/boards/Parafoil/Configs/MavlinkConfig.h | 44 -
src/boards/Parafoil/Configs/NASConfig.h | 60 +
src/boards/Parafoil/Configs/RadioConfig.h | 36 +-
src/boards/Parafoil/Configs/SensorsConfig.h | 13 +-
src/boards/Parafoil/Configs/WingConfig.h | 53 +-
src/boards/Parafoil/Control/NASController.h | 146 -
.../Parafoil/FlightModeManager/FMM.scxml | 10 -
...MMController.cpp => FlightModeManager.cpp} | 104 +-
.../{FMMController.h => FlightModeManager.h} | 29 +-
.../{FMMData.h => FlightModeManagerData.h} | 17 +-
src/boards/Parafoil/Main/Radio.cpp | 387 -
src/boards/Parafoil/Main/Radio.h | 195 -
src/boards/Parafoil/Main/Sensors.cpp | 303 -
src/boards/Parafoil/Main/Sensors.h | 142 -
.../NASController.cpp | 162 +-
.../Parafoil/NASController/NASController.h | 68 +
src/boards/Parafoil/ParafoilTest.h | 270 -
src/boards/Parafoil/ParafoilTestStatus.h | 77 -
src/boards/Parafoil/Radio/Radio.cpp | 418 +
src/boards/Parafoil/Radio/Radio.h | 103 +
src/boards/Parafoil/Sensors/Sensors.cpp | 246 +
.../Algorithms.h => Sensors/Sensors.h} | 77 +-
.../Parafoil/TMRepository/TMRepository.cpp | 362 +
.../Parafoil/TMRepository/TMRepository.h | 70 +
.../TelemetriesTelecommands/TMRepository.cpp | 231 -
.../TelemetriesTelecommands/TMRepository.h | 109 -
.../Parafoil/Wing/AutomaticWingAlgorithm.cpp | 90 +-
.../Parafoil/Wing/AutomaticWingAlgorithm.h | 19 +-
src/boards/Parafoil/Wing/WingAlgorithm.cpp | 56 +-
src/boards/Parafoil/Wing/WingAlgorithm.h | 45 +-
src/boards/Parafoil/Wing/WingAlgorithmData.h | 16 +-
src/boards/Parafoil/Wing/WingController.cpp | 106 +-
src/boards/Parafoil/Wing/WingController.h | 40 +-
src/boards/Parafoil/Wing/WingServo.cpp | 71 -
src/boards/Parafoil/Wing/WingServo.h | 92 -
src/boards/Parafoil/mocksensors/MockGPS.h | 101 -
src/boards/Parafoil/mocksensors/MockIMU.h | 80 -
.../Parafoil/mocksensors/MockPressureSensor.h | 109 -
src/boards/Parafoil/mocksensors/MockSensors.h | 29 -
.../Parafoil/mocksensors/MockSensorsData.h | 90 -
.../Parafoil/mocksensors/MockSpeedSensor.h | 76 -
.../lynx_flight_data/lynx_airspeed_data.cpp | 923 -
.../lynx_flight_data/lynx_gps_data.cpp | 10979 ---------
.../lynx_flight_data/lynx_gps_data.h | 37 -
.../lynx_flight_data/lynx_imu_data.cpp | 19421 ----------------
.../lynx_flight_data/lynx_imu_data.h | 35 -
.../lynx_flight_data/lynx_press_data.cpp | 1462 --
.../lynx_flight_data/lynx_press_data.h | 30 -
.../lynx_pressure_static_data.cpp | 924 -
.../lynx_pressure_static_data.h | 30 -
.../mocksensors/mock_data/test-mock-data.cpp | 14664 ------------
.../mocksensors/mock_data/test-mock-data.h | 38 -
.../mock_data/test-mock-sensors.cpp | 82 -
src/boards/Payload/Main/Sensors.h | 13 +-
src/boards/common/Algorithm.h | 65 -
.../Mavlink.h | 20 +-
src/boards/common/ServoInterface.h | 154 -
src/boards/common/SystemData.h | 51 -
src/entrypoints/Parafoil/parafoil-entry.cpp | 105 +-
69 files changed, 2079 insertions(+), 52224 deletions(-)
create mode 100644 src/boards/Parafoil/Actuators/Actuators.cpp
create mode 100644 src/boards/Parafoil/Actuators/Actuators.h
rename src/boards/Parafoil/{mocksensors/lynx_flight_data/lynx_airspeed_data.h => BoardScheduler.h} (70%)
rename src/boards/Parafoil/{Configs/XbeeConfig.h => Buses.h} (64%)
rename src/boards/Parafoil/{Control/Algorithms.cpp => Configs/ActuatorsConfigs.h} (57%)
delete mode 100644 src/boards/Parafoil/Configs/MavlinkConfig.h
create mode 100644 src/boards/Parafoil/Configs/NASConfig.h
delete mode 100644 src/boards/Parafoil/Control/NASController.h
delete mode 100644 src/boards/Parafoil/FlightModeManager/FMM.scxml
rename src/boards/Parafoil/FlightModeManager/{FMMController.cpp => FlightModeManager.cpp} (51%)
rename src/boards/Parafoil/FlightModeManager/{FMMController.h => FlightModeManager.h} (80%)
rename src/boards/Parafoil/FlightModeManager/{FMMData.h => FlightModeManagerData.h} (85%)
delete mode 100644 src/boards/Parafoil/Main/Radio.cpp
delete mode 100644 src/boards/Parafoil/Main/Radio.h
delete mode 100644 src/boards/Parafoil/Main/Sensors.cpp
delete mode 100644 src/boards/Parafoil/Main/Sensors.h
rename src/boards/Parafoil/{Control => NASController}/NASController.cpp (59%)
create mode 100644 src/boards/Parafoil/NASController/NASController.h
delete mode 100644 src/boards/Parafoil/ParafoilTest.h
delete mode 100644 src/boards/Parafoil/ParafoilTestStatus.h
create mode 100644 src/boards/Parafoil/Radio/Radio.cpp
create mode 100644 src/boards/Parafoil/Radio/Radio.h
create mode 100644 src/boards/Parafoil/Sensors/Sensors.cpp
rename src/boards/Parafoil/{Control/Algorithms.h => Sensors/Sensors.h} (57%)
create mode 100644 src/boards/Parafoil/TMRepository/TMRepository.cpp
create mode 100644 src/boards/Parafoil/TMRepository/TMRepository.h
delete mode 100644 src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
delete mode 100644 src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
delete mode 100644 src/boards/Parafoil/Wing/WingServo.cpp
delete mode 100644 src/boards/Parafoil/Wing/WingServo.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockGPS.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockIMU.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockPressureSensor.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockSensors.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockSensorsData.h
delete mode 100644 src/boards/Parafoil/mocksensors/MockSpeedSensor.h
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.h
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.h
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.h
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
delete mode 100644 src/boards/Parafoil/mocksensors/mock_data/test-mock-data.cpp
delete mode 100644 src/boards/Parafoil/mocksensors/mock_data/test-mock-data.h
delete mode 100644 src/boards/Parafoil/mocksensors/mock_data/test-mock-sensors.cpp
delete mode 100644 src/boards/common/Algorithm.h
rename src/boards/{Parafoil/TelemetriesTelecommands => common}/Mavlink.h (78%)
delete mode 100644 src/boards/common/ServoInterface.h
delete mode 100644 src/boards/common/SystemData.h
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 28ed0329d..69803b1bc 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -61,7 +61,69 @@
"limitSymbolsToIncludedHeaders": true
},
"configurationProvider": "ms-vscode.cmake-tools"
+ },
+ {
+ "name": "stm32f429zi_skyward_parafoil",
+ "cStandard": "c11",
+ "cppStandard": "c++11",
+ "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
+ "defines": [
+ "DEBUG",
+ "_ARCH_CORTEXM4_STM32F4",
+ "_BOARD_STM32F429ZI_SKYWARD_PARAFOIL",
+ "_MIOSIX_BOARDNAME=stm32f429zi_skyward_parafoil",
+ "HSE_VALUE=8000000",
+ "SYSCLK_FREQ_168MHz=168000000",
+ "_MIOSIX",
+ "__cplusplus=201103L"
+ ],
+ "includePath": [
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/skyward-boardcore/libs/fmt/include",
+ "${workspaceFolder}/skyward-boardcore/libs/eigen",
+ "${workspaceFolder}/skyward-boardcore/libs/tscpp",
+ "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/skyward-boardcore/libs",
+ "${workspaceFolder}/skyward-boardcore/src/shared",
+ "${workspaceFolder}/skyward-boardcore/src/tests",
+ "${workspaceFolder}/src/boards",
+ "${workspaceFolder}/src/tests",
+ "${workspaceFolder}/src"
+ ],
+ "browse": {
+ "path": [
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_parafoil",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/stdlib_integration",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/interfaces",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/filesystem",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/kernel",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/util",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/e20",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/*",
+ "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
+ "${workspaceFolder}/skyward-boardcore/libs/eigen",
+ "${workspaceFolder}/skyward-boardcore/libs/tscpp",
+ "${workspaceFolder}/skyward-boardcore/libs/mxgui",
+ "${workspaceFolder}/skyward-boardcore/libs/fmt",
+ "${workspaceFolder}/skyward-boardcore/src/shared",
+ "${workspaceFolder}/skyward-boardcore/src/tests",
+ "${workspaceFolder}/src/boards",
+ "${workspaceFolder}/src/tests",
+ "${workspaceFolder}/src"
+ ],
+ "limitSymbolsToIncludedHeaders": true
+ },
+ "configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
-}
\ No newline at end of file
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index ecfd4054d..c3d1fc524 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -94,15 +94,34 @@
"matrixfunctions": "cpp"
},
"cSpell.words": [
+ "Aeroutils",
+ "baro",
"Boardcore",
+ "Eigen",
"Erbetta",
"Gpio",
+ "GPIOA",
+ "GPIOB",
+ "GPIOC",
+ "GPIOD",
+ "GPIOF",
+ "GPIOG",
"leds",
"Luca",
+ "Matteo",
+ "Mavlink",
"miosix",
+ "MOSI",
+ "Nidasio",
+ "pinouts",
"Terraneo",
+ "tmrepo",
"tscpp",
- "UBXGPS"
+ "Ublox",
+ "UBXGPS",
+ "usart",
+ "wingalgo",
+ "wingctrl"
],
"C_Cpp.errorSquiggles": "Enabled"
}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 344016d00..13101e475 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,50 +24,21 @@ enable_testing()
include(skyward-boardcore/cmake/sbs.cmake)
# -----------------------------------------------------------------------------#
-# Project #
+# Project #
# -----------------------------------------------------------------------------#
+
project(SkywardParafoilTest)
# -----------------------------------------------------------------------------#
-# Main Computer #
+# Parafoil mockup #
# -----------------------------------------------------------------------------#
-# add_executable(catch-tests-main
-# src/tests/MainComputer/catch/catch-tests-entry.cpp
-# src/tests/MainComputer/catch/test-airbrakes.cpp
-# src/tests/MainComputer/catch/test-ada.cpp
-# src/tests/MainComputer/catch/test-deployment.cpp
-# src/tests/MainComputer/catch/test-fsr.cpp
-# src/tests/MainComputer/catch/test-nas.cpp
-# ${MAIN_COMPUTER}
-# )
-# target_include_directories(catch-tests-main PRIVATE ${OBSW_INCLUDE_DIRS})
-# target_compile_definitions(catch-tests-main PRIVATE USE_MOCK_PERIPHERALS)
-# sbs_target(catch-tests-main stm32f429zi_skyward_death_stack_x)
-# sbs_catch_test(catch-tests-main)
-
-# -----------------------------------------------------------------------------#
-# Parafoil mockup Computer #
-# -----------------------------------------------------------------------------#
-add_executable(parafoil-mockup-entry
- src/entrypoints/Parafoil/parafoil-entry.cpp
- ${PARAFOIL_MOCKUP_COMPUTER}
-)
+add_executable(parafoil-mockup-entry src/entrypoints/Parafoil/parafoil-entry.cpp ${PARAFOIL_COMPUTER})
target_include_directories(parafoil-mockup-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(parafoil-mockup-entry stm32f429zi_stm32f4discovery)
+sbs_target(parafoil-mockup-entry stm32f429zi_skyward_parafoil)
# add_executable(parafoil-test-bme280 src/tests/Parafoil/parafoil-test-bme280.cpp)
-# sbs_target(parafoil-test-bme280 stm32f429zi_stm32f4discovery)
+# sbs_target(parafoil-test-bme280 stm32f429zi_skyward_parafoil)
# add_executable(parafoil-test-ublox-uart src/tests/Parafoil/parafoil-test-ublox-uart.cpp)
-# sbs_target(parafoil-test-ublox-uart stm32f429zi_stm32f4discovery)
-
-# -----------------------------------------------------------------------------#
-# Payload computer #
-# -----------------------------------------------------------------------------#
-add_executable(payload-entry
- src/entrypoints/Payload/payload-entry.cpp
- ${PAYLOAD_COMPUTER}
-)
-target_include_directories(payload-entry PRIVATE ${OBSW_INCLUDE_DIRS})
-sbs_target(payload-entry stm32f429zi_skyward_death_stack_x)
\ No newline at end of file
+# sbs_target(parafoil-test-ublox-uart stm32f429zi_skyward_parafoil)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 5f5966924..ef5fb2eb4 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -23,30 +23,14 @@ set(OBSW_INCLUDE_DIRS
src/boards
)
-# set(MAIN_COMPUTER
-# src/boards/MainComputer/events/EventStrings.cpp
-# src/boards/MainComputer/Actuators/Actuators.cpp
-# src/boards/MainComputer/AirBrakes/AirBrakesController.cpp
-# src/boards/MainComputer/ApogeeDetectionAlgorithm/ADAController.cpp
-# src/boards/MainComputer/Deployment/DeploymentController.cpp
-# src/boards/MainComputer/NavigationAttitudeSystem/NASController.cpp
-# src/boards/MainComputer/FlightStatsRecorder/FSRController.cpp
-# )
-set(PARAFOIL_MOCKUP_COMPUTER
- src/boards/Parafoil/Main/Sensors.cpp
- src/boards/Parafoil/Main/Radio.cpp
- src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
- src/boards/Parafoil/Wing/WingServo.cpp
+set(PARAFOIL_COMPUTER
+ src/boards/Parafoil/Actuators/Actuators.cpp
+ src/boards/Parafoil/FlightModeManager/FlightModeManager.cpp
+ src/boards/Parafoil/NASController/NASController.cpp
+ src/boards/Parafoil/Radio/Radio.cpp
+ src/boards/Parafoil/Sensors/Sensors.cpp
+ src/boards/Parafoil/TMRepository/TMRepository.cpp
src/boards/Parafoil/Wing/WingAlgorithm.cpp
src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
src/boards/Parafoil/Wing/WingController.cpp
- src/boards/Parafoil/FlightModeManager/FMMController.cpp
- src/boards/Parafoil/Control/Algorithms.cpp
- src/boards/Parafoil/Control/NASController.cpp
-)
-set(PAYLOAD_COMPUTER
- src/boards/Payload/Main/Sensors.cpp
- src/boards/Payload/Main/Radio.cpp
- src/boards/Payload/TelemetriesTelecommands/TMRepository.cpp
- src/boards/Payload/Control/NASController.cpp
)
diff --git a/skyward-boardcore b/skyward-boardcore
index 680203efd..99bcab503 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 680203efd050713021421b82a66748cf7ba53c74
+Subproject commit 99bcab503fbc4b33836a96760cca28a90a55ba61
diff --git a/src/boards/Parafoil/Actuators/Actuators.cpp b/src/boards/Parafoil/Actuators/Actuators.cpp
new file mode 100644
index 000000000..81f932916
--- /dev/null
+++ b/src/boards/Parafoil/Actuators/Actuators.cpp
@@ -0,0 +1,150 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Actuators.h"
+
+#include <Parafoil/Configs/ActuatorsConfigs.h>
+
+#ifndef COMPILE_FOR_HOST
+#include <interfaces-impl/hwmapping.h>
+#endif
+
+using namespace miosix;
+using namespace Parafoil::ActuatorsConfigs;
+
+namespace Parafoil
+{
+
+bool Actuators::setServo(ServosList servoId, float percentage)
+{
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ servo1.setPosition(percentage);
+ break;
+ case PARAFOIL_SERVO2:
+ servo2.setPosition(percentage);
+ break;
+ default:
+ return false;
+ }
+
+ return true;
+}
+
+bool Actuators::setServoAngle(ServosList servoId, float angle)
+{
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ servo1.setPosition(angle / SERVO_1_ROTATION);
+ break;
+ case PARAFOIL_SERVO2:
+ servo2.setPosition(angle / SERVO_2_ROTATION);
+ break;
+ default:
+ return false;
+ }
+
+ return true;
+}
+
+bool Actuators::wiggleServo(ServosList servoId)
+{
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ servo1.setPosition(1);
+ Thread::sleep(1000);
+ servo1.setPosition(0);
+ break;
+ case PARAFOIL_SERVO2:
+ servo2.setPosition(1);
+ Thread::sleep(1000);
+ servo2.setPosition(0);
+ break;
+ default:
+ return false;
+ }
+
+ return true;
+}
+
+bool Actuators::enableServo(ServosList servoId)
+{
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ servo1.enable();
+ break;
+ case PARAFOIL_SERVO2:
+ servo2.enable();
+ break;
+ default:
+ return false;
+ }
+
+ return true;
+}
+
+bool Actuators::disableServo(ServosList servoId)
+{
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ servo1.enable();
+ break;
+ case PARAFOIL_SERVO2:
+ servo1.enable();
+ break;
+ default:
+ return false;
+ }
+
+ return true;
+}
+
+float Actuators::getServoPosition(ServosList servoId)
+{
+
+ switch (servoId)
+ {
+ case PARAFOIL_SERVO1:
+ return servo1.getPosition();
+ case PARAFOIL_SERVO2:
+ return servo2.getPosition();
+ default:
+ return 0;
+ }
+
+ return 0;
+}
+
+Actuators::Actuators()
+ : servo1(SERVO_1_TIMER, SERVO_1_PWM_CH, SERVO_1_MIN_PULSE,
+ SERVO_1_MAX_PULSE),
+ servo2(SERVO_2_TIMER, SERVO_2_PWM_CH, SERVO_2_MIN_PULSE,
+ SERVO_2_MAX_PULSE)
+{
+}
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Actuators/Actuators.h b/src/boards/Parafoil/Actuators/Actuators.h
new file mode 100644
index 000000000..8ae12c442
--- /dev/null
+++ b/src/boards/Parafoil/Actuators/Actuators.h
@@ -0,0 +1,77 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Singleton.h>
+#include <actuators/Servo/Servo.h>
+#include <common/Mavlink.h>
+#include <interfaces/gpio.h>
+
+namespace Parafoil
+{
+
+struct Actuators : public Boardcore::Singleton<Actuators>
+{
+ friend class Boardcore::Singleton<Actuators>;
+
+ /**
+ * @brief Moves the specified servo to the given position.
+ *
+ * @param servoId Servo to move.
+ * @param percentage Angle to set [0-1].
+ * @return True if the the angle was set.
+ */
+ bool setServo(ServosList servoId, float percentage);
+
+ /**
+ * @brief Moves the specified servo to the given position.
+ *
+ * @param servoId Servo to move.
+ * @param angle Angle to set [degree].
+ * @return True if the the angle was set.
+ */
+ bool setServoAngle(ServosList servoId, float angle);
+
+ /**
+ * @brief Wiggles the servo for few seconds.
+ *
+ * @param servoId Servo to move.
+ * @return true
+ * @return false
+ */
+ bool wiggleServo(ServosList servoId);
+
+ bool enableServo(ServosList servoId);
+
+ bool disableServo(ServosList servoId);
+
+ float getServoPosition(ServosList servoId);
+
+private:
+ Actuators();
+
+ Boardcore::Servo servo1;
+ Boardcore::Servo servo2;
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.h b/src/boards/Parafoil/BoardScheduler.h
similarity index 70%
rename from src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.h
rename to src/boards/Parafoil/BoardScheduler.h
index d0948bffb..4ae0d9346 100644
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.h
+++ b/src/boards/Parafoil/BoardScheduler.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,11 +22,23 @@
#pragma once
-#include <Common.h>
+#include <Singleton.h>
+#include <scheduler/TaskScheduler.h>
-/**
- * Pitot airspeed data from Lynx flight test in Roccaraso.
- * Sampled at 42 Hz (24 ms period).
- */
-static constexpr unsigned AIRSPEED_DATA_SIZE = 5384;
-extern const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE];
\ No newline at end of file
+namespace Parafoil
+{
+
+class BoardScheduler : public Boardcore::Singleton<BoardScheduler>
+{
+ friend Boardcore::Singleton<BoardScheduler>;
+
+public:
+ Boardcore::TaskScheduler& getScheduler() { return scheduler; }
+
+private:
+ BoardScheduler() {}
+
+ Boardcore::TaskScheduler scheduler;
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/XbeeConfig.h b/src/boards/Parafoil/Buses.h
similarity index 64%
rename from src/boards/Parafoil/Configs/XbeeConfig.h
rename to src/boards/Parafoil/Buses.h
index e254ea5a0..1dcc66672 100644
--- a/src/boards/Parafoil/Configs/XbeeConfig.h
+++ b/src/boards/Parafoil/Buses.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
+ * Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -22,22 +22,38 @@
#pragma once
-#include <radio/Xbee/Xbee.h>
+#include <Singleton.h>
+#include <drivers/spi/SPIBus.h>
+#include <drivers/usart/USART.h>
+#include <miosix.h>
namespace Parafoil
{
-// TODO change the pins to something correct
-static miosix::GpioPin XBEE_CS(GPIOC_BASE, 1);
-static miosix::GpioPin XBEE_ATTN(GPIOF_BASE, 10); // Interrupt pin
-static miosix::GpioPin XBEE_RESET(GPIOC_BASE, 5);
+struct Buses : public Boardcore::Singleton<Buses>
+{
+ friend class Boardcore::Singleton<Buses>;
+
+ Boardcore::USART usart2;
-static miosix::GpioPin XBEE_SCK(GPIOE_BASE, 2);
-static miosix::GpioPin XBEE_MISO(GPIOE_BASE, 5);
-static miosix::GpioPin XBEE_MOSI(GPIOE_BASE, 6);
+ Boardcore::SPIBus spi1;
+ Boardcore::SPIBus spi4;
-// Data rate
-static const bool XBEE_80KBPS_DATA_RATE = true;
-static const int XBEE_TIMEOUT = 5000; // [ms]
+private:
+#ifndef USE_MOCK_PERIPHERALS
+ Buses()
+ : usart2(USART2, Boardcore::USARTInterface::Baudrate::B115200),
+ spi1(SPI1), spi4(SPI4)
+ {
+ usart2.init();
+ }
+#else
+ Buses()
+ : usart2(USART2, Boardcore::USARTInterface::Baudrate::B115200),
+ spi1({}), spi4({})
+ {
+ }
+#endif
+};
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Control/Algorithms.cpp b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
similarity index 57%
rename from src/boards/Parafoil/Control/Algorithms.cpp
rename to src/boards/Parafoil/Configs/ActuatorsConfigs.h
index d0c4730df..c70939b78 100644
--- a/src/boards/Parafoil/Control/Algorithms.cpp
+++ b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
+ * Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,50 +20,37 @@
* THE SOFTWARE.
*/
-#include <Parafoil/Control/Algorithms.h>
-#include <Parafoil/ParafoilTest.h>
+#pragma once
-using namespace Boardcore;
-using namespace std;
+#include <drivers/timer/PWM.h>
+#include <drivers/timer/TimerUtils.h>
namespace Parafoil
{
-Algorithms::Algorithms(TaskScheduler* scheduler)
+
+namespace ActuatorsConfigs
{
- this->scheduler = scheduler;
- // Init the algorithms
- NASInit();
-}
+// Servo 1
-Algorithms::~Algorithms()
-{
- // Destroy all the algorithms
- delete nas;
-}
+static TIM_TypeDef* const SERVO_1_TIMER = TIM4;
+static constexpr Boardcore::TimerUtils::Channel SERVO_1_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_2;
-bool Algorithms::start()
-{
- // Start the scheduler
- return nas->start();
-}
+static constexpr float SERVO_1_ROTATION = 120;
+static constexpr float SERVO_1_MIN_PULSE = 900; // [deg]
+static constexpr float SERVO_1_MAX_PULSE = 2100; // [deg]
-void Algorithms::NASInit()
-{
- // Create the nas
- nas = new NASController(scheduler);
+// Servo 2
- // Init
- nas->init();
-}
+static TIM_TypeDef* const SERVO_2_TIMER = TIM10;
+static constexpr Boardcore::TimerUtils::Channel SERVO_2_PWM_CH =
+ Boardcore::TimerUtils::Channel::CHANNEL_1;
-/**
- * GETTERS
- */
-NASState Algorithms::getNASLastSample()
-{
- // Pause the kernel for sync purposes
- miosix::PauseKernelLock lock;
- return nas->getLastSample();
-}
-} // namespace Parafoil
\ No newline at end of file
+static constexpr float SERVO_2_ROTATION = 120;
+static constexpr float SERVO_2_MIN_PULSE = 2100; // [deg]
+static constexpr float SERVO_2_MAX_PULSE = 900; // [deg]
+
+} // namespace ActuatorsConfigs
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/MavlinkConfig.h b/src/boards/Parafoil/Configs/MavlinkConfig.h
deleted file mode 100644
index 7bda99a2f..000000000
--- a/src/boards/Parafoil/Configs/MavlinkConfig.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-#include <cstdio>
-
-namespace Parafoil
-{
-
-// Mavlink Driver queue settings
-static constexpr unsigned int MAV_OUT_QUEUE_LEN = 10;
-static constexpr unsigned int MAV_PKT_SIZE = 63;
-static constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 200;
-
-// These two values are taken as is
-static const unsigned int TMTC_MAV_SYSID = 171;
-static const unsigned int TMTC_MAV_COMPID = 96;
-
-// Min guaranteed sleep time after each packet sent
-static const uint16_t SLEEP_AFTER_SEND = 0; // [ms]
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/NASConfig.h b/src/boards/Parafoil/Configs/NASConfig.h
new file mode 100644
index 000000000..addbff398
--- /dev/null
+++ b/src/boards/Parafoil/Configs/NASConfig.h
@@ -0,0 +1,60 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <algorithms/NAS/NASConfig.h>
+
+namespace Parafoil
+{
+
+namespace NASConfig
+{
+
+static constexpr uint32_t UPDATE_PERIOD = 50; // 50 hz
+
+// Magnetic field in Milan
+Eigen::Vector3f nedMag(0.4747, 0.0276, 0.8797);
+
+static const Boardcore::NASConfig config = {
+ 1.0f / UPDATE_PERIOD, // T
+ 0.0001f, // SIGMA_BETA
+ 0.3f, // SIGMA_W
+ 0.1f, // SIGMA_MAG
+ 10.0f, // SIGMA_GPS
+ 4.3f, // SIGMA_BAR
+ 10.0f, // SIGMA_POS
+ 10.0f, // SIGMA_VEL
+ 10.0f, // SIGMA_PITOT
+ 1.0f, // P_POS
+ 10.0f, // P_POS_VERTICAL
+ 1.0f, // P_VEL
+ 10.0f, // P_VEL_VERTICAL
+ 0.01f, // P_ATT
+ 0.01f, // P_BIAS
+ 6.0f, // SATS_NUM
+ nedMag // NED_MAG
+};
+
+} // namespace NASConfig
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/RadioConfig.h b/src/boards/Parafoil/Configs/RadioConfig.h
index 459d378ef..d470f6f4d 100644
--- a/src/boards/Parafoil/Configs/RadioConfig.h
+++ b/src/boards/Parafoil/Configs/RadioConfig.h
@@ -22,20 +22,36 @@
#pragma once
-#include <stdint.h>
+#include <common/Mavlink.h>
+
+#include <cstdio>
namespace Parafoil
{
-// TODO: update with the correct values
-static const uint32_t HR_GROUND_UPDATE_PERIOD = 62; // [ms]
-static const uint32_t HR_FLIGHT_UPDATE_PERIOD = 10;
-static const uint32_t LR_UPDATE_PERIOD = 100; // [ms]
-static const uint32_t SD_UPDATE_PERIOD = 10000;
+namespace RadioConfig
+{
+
+// Mavlink driver template parameters
+constexpr uint32_t RADIO_PKT_LENGTH = 255;
+constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 10;
+constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
+
+// Mavlink driver parameters
+constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 200;
+
+// Mavlink ids
+constexpr uint8_t MAV_SYSTEM_ID = 171;
+constexpr uint8_t MAV_COMPONENT_ID = 96;
+
+// Periodic telemetries frequency
+constexpr uint32_t FLIGHT_TM_PERIOD = 250; // [ms]
+constexpr uint32_t STATS_TM_PERIOD = 2000; // [ms]
+
+// Periodic telemetries tasks ids
+constexpr uint8_t FLIGHT_TM_TASK_ID = 200;
+constexpr uint8_t STATS_TM_TASK_ID = 201;
-// TODO: define the correct ids for task scheduler
-static const uint8_t RADIO_HR_ID = 200;
-static const uint8_t RADIO_LR_ID = 201;
-static const uint8_t SD_UPDATE_ID = 202;
+} // namespace RadioConfig
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h
index 8554bff6a..853cad9be 100644
--- a/src/boards/Parafoil/Configs/SensorsConfig.h
+++ b/src/boards/Parafoil/Configs/SensorsConfig.h
@@ -35,20 +35,14 @@
namespace Parafoil
{
-// SPI pinouts
-static miosix::GpioPin SCK(GPIOA_BASE, 5);
-static miosix::GpioPin MISO(GPIOB_BASE, 4);
-static miosix::GpioPin MOSI(GPIOA_BASE, 7);
+namespace SensorsConfig
+{
// GPS settings
-// static miosix::GpioPin GPS_CS(GPIOG_BASE, 3);
-static miosix::GpioPin GPS_TX(GPIOD_BASE, 5);
-static miosix::GpioPin GPS_RX(GPIOA_BASE, 3);
static constexpr unsigned int GPS_SAMPLE_RATE = 10;
static constexpr unsigned int GPS_SAMPLE_PERIOD = 1000 / GPS_SAMPLE_RATE;
// IMU MPU9250 settings
-static miosix::GpioPin IMU_CS(GPIOB_BASE, 2);
static const Boardcore::MPU9250::MPU9250GyroFSR IMU_GYRO_SCALE =
Boardcore::MPU9250::GYRO_FSR_500DPS;
static const Boardcore::MPU9250::MPU9250AccelFSR IMU_ACCEL_SCALE =
@@ -57,9 +51,10 @@ static constexpr unsigned short IMU_SAMPLE_RATE = 500;
static constexpr unsigned int IMU_SAMPLE_PERIOD = 1000 / IMU_SAMPLE_RATE;
// Barometer BME280 settings
-static miosix::GpioPin PRESS_CS(GPIOC_BASE, 11);
static const Boardcore::BME280::StandbyTime PRESS_SAMPLE_RATE =
Boardcore::BME280::STB_TIME_0_5;
static constexpr unsigned int PRESS_SAMPLE_PERIOD = 20;
+} // namespace SensorsConfig
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index efed45f0c..ab7102fb2 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -27,52 +27,25 @@
#include <Eigen/Core>
-/**
- * @brief This class defines all the wing configs
- * (E.g. Servos PWM channels, Servos max and min positions, etc..)
- */
namespace Parafoil
{
-// ALGORITHM CONFIGURATION
-static const uint32_t WING_UPDATE_PERIOD = 100; // milliseconds
-static const uint8_t WING_CONTROLLER_ID = 100; // TODO define a correct ID
-
-// ALGORITHM START AND FLARE ARMING CONSTANTS
-static const float WING_ALGORITHM_ARM_ALTITUDE = 250; // [m]
-static const float WING_ALGORITHM_START_ALTITUE = 200; // [m]
-static const float WING_FLARE_ALTITUDE = 1275; // [m]
-
-static float WING_CALIBRATION_PRESSURE = 101325; // Pa
-static float WING_CALIBRATION_TEMPERATURE = 300; // Kelvin
-static uint8_t WING_PRESSURE_MEAN_COUNT = 20;
-
-// SERVOS CONFIGURATIONS
-static miosix::GpioPin SERVO1PIN(GPIOB_BASE, 7);
-static miosix::GpioPin SERVO2PIN(GPIOF_BASE, 6);
-
-// 16 bit, 45MHz, no DMA timer
-static TIM_TypeDef* WING_SERVO1_TIMER = TIM4;
-static TIM_TypeDef* WING_SERVO2_TIMER = TIM10;
-
-static const Boardcore::TimerUtils::Channel WING_SERVO1_PWM_CHANNEL =
- Boardcore::TimerUtils::Channel::CHANNEL_2;
-static const Boardcore::TimerUtils::Channel WING_SERVO2_PWM_CHANNEL =
- Boardcore::TimerUtils::Channel::CHANNEL_1;
+namespace WingConfig
+{
-// Servo dependent variables
-static const unsigned int WING_SERVO_MIN_PULSE = 900;
-static const unsigned int WING_SERVO_MAX_PULSE = 2100;
-static const unsigned int WING_SERVO_FREQUENCY = 50;
-static const unsigned int WING_SERVO_MAX_DEGREES = 120;
+// Algorithm configuration
+static constexpr uint32_t WING_UPDATE_PERIOD = 100; // [ms]
+static constexpr uint8_t WING_CONTROLLER_ID = 100; // TODO define a correct ID
-static const float WING_SERVO1_MAX_POSITION = 120; // degrees
-static const float WING_SERVO2_MAX_POSITION = 120; // degrees
+// Arm, start and flare thresholds
+static constexpr float WING_ALGORITHM_ARM_ALTITUDE = 250; // [m]
+static constexpr float WING_ALGORITHM_START_ALTITUDE = 200; // [m]
+static constexpr float WING_FLARE_ALTITUDE = 1275; // [m]
-static const float WING_SERVO1_MIN_POSITION = 0; // degrees
-static const float WING_SERVO2_MIN_POSITION = 0; // degrees
+static float WING_CALIBRATION_PRESSURE = 101325; // [Pa]
+static float WING_CALIBRATION_TEMPERATURE = 300; // [K]
+static uint8_t WING_PRESSURE_MEAN_COUNT = 20;
-static const float WING_SERVO1_RESET_POSITION = 0; // degrees
-static const float WING_SERVO2_RESET_POSITION = 120; // degrees
+} // namespace WingConfig
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Control/NASController.h b/src/boards/Parafoil/Control/NASController.h
deleted file mode 100644
index 25b6974da..000000000
--- a/src/boards/Parafoil/Control/NASController.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Alberto Nidasio, Matteo Pignataro
- *
- * 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/NAS/NAS.h>
-#include <algorithms/NAS/StateInitializer.h>
-#include <scheduler/TaskScheduler.h>
-
-#include <Eigen/Core>
-#include <functional>
-
-/**
- * USAGE:
- * NASController* nas = new NASController(bind()...);
- *
- * nas->setInitialOrientation({});
- * nas->setInitialPosition({});
- * nas->init();
- * nas->start();
- *
- * nas->getLastSample();
- */
-
-namespace Parafoil
-{
-/**
- * @brief The class expects some parameters that represent the data type
- */
-class NASController
-{
-public:
- /**
- * @brief Construct a new NASController object
- *
- * @param imuGetter The imu data getter function (done to avoid sync
- * problems with sensors class)
- * @param gpsGetter The gps data getter function (done to avoid sync
- * problems with sensors class)
- */
- NASController(Boardcore::TaskScheduler* scheduler,
- Boardcore::NASConfig config = getDefaultConfig());
-
- /**
- * @brief Destroy the NASController object
- */
- ~NASController();
-
- /**
- * @brief Method to calculate using triad the initial orientation
- */
- void calculateInitialOrientation();
-
- /**
- * @brief Method to set the initial gps position
- */
- void setInitialPosition(Eigen::Vector2f position);
-
- /**
- * @brief Method to initialize the controller
- */
- void init();
-
- /**
- * @brief Method to start the nas
- */
- bool start();
-
- /**
- * @brief Method to get the last sample
- */
- Boardcore::NASState getLastSample();
-
- /**
- * @brief Method to make the nas go forward with the prediction and
- * correction
- */
- void step();
-
- /**
- * @brief Default config getter
- */
- static Boardcore::NASConfig getDefaultConfig()
- {
- Boardcore::NASConfig config;
-
- config.T = 0.02f;
- config.SIGMA_BETA = 0.0001f;
- config.SIGMA_W = 0.3f;
- config.SIGMA_MAG = 0.1f;
- config.SIGMA_GPS = 10.0f;
- config.SIGMA_BAR = 4.3f;
- config.SIGMA_POS = 10.0;
- config.SIGMA_VEL = 10.0;
- config.P_POS = 1.0f;
- config.P_POS_VERTICAL = 10.0f;
- config.P_VEL = 1.0f;
- config.P_VEL_VERTICAL = 10.0f;
- config.P_ATT = 0.01f;
- config.P_BIAS = 0.01f;
- config.SATS_NUM = 6.0f;
- // TODO Define what this stuff is
- config.NED_MAG = Eigen::Vector3f(0.4747, 0.0276, 0.8797);
-
- return config;
- }
-
-private:
- // The NAS filter
- Boardcore::NAS* nas;
-
- // The nas config
- Boardcore::NASConfig config;
- Eigen::Vector3f initialOrientation;
- Eigen::Vector2f initialPosition{42.57182024359364, 12.585861994119355};
-
- // Task scheduler
- Boardcore::TaskScheduler* scheduler;
-
- // SD Logger
- Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
-
- // Debug logger
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("NASController");
-};
-
-} // namespace Parafoil
\ No newline at end of file
diff --git a/src/boards/Parafoil/FlightModeManager/FMM.scxml b/src/boards/Parafoil/FlightModeManager/FMM.scxml
deleted file mode 100644
index 0b59b8518..000000000
--- a/src/boards/Parafoil/FlightModeManager/FMM.scxml
+++ /dev/null
@@ -1,10 +0,0 @@
-<scxml version="1.0" xmlns="http://www.w3.org/2005/07/scxml" initial="OnGround">
- <state id="OnGround">
- <transition event="FMM.EV_LIFTOFF" target="FlyingState"></transition>
- <transition event="FMM.EV_TC_TEST_MODE" target="DebugState"></transition>
- </state>
- <state id="Flying"></state>
- <state id="Debug">
- <transition event="FMM.EV_TC_EXIT_TEST_MODE" target="OnGround"></transition>
- </state>
-</scxml>
\ No newline at end of file
diff --git a/src/boards/Parafoil/FlightModeManager/FMMController.cpp b/src/boards/Parafoil/FlightModeManager/FlightModeManager.cpp
similarity index 51%
rename from src/boards/Parafoil/FlightModeManager/FMMController.cpp
rename to src/boards/Parafoil/FlightModeManager/FlightModeManager.cpp
index 4de25c2bf..4805fd38e 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMController.cpp
+++ b/src/boards/Parafoil/FlightModeManager/FlightModeManager.cpp
@@ -20,9 +20,10 @@
* THE SOFTWARE.
*/
-#include "FMMController.h"
+#include "FlightModeManager.h"
#include <common/events/Events.h>
+#include <drivers/timer/TimestampTimer.h>
#include <events/EventBroker.h>
#include <miosix.h>
@@ -30,127 +31,70 @@ using namespace Boardcore;
namespace Parafoil
{
-FMMController::FMMController() : FSM(&FMMController::state_on_ground)
-{
- memset(&status, 0, sizeof(FMMControllerStatus));
- EventBroker::getInstance().subscribe(this, TOPIC_FMM);
- EventBroker::getInstance().subscribe(this, TOPIC_TMTC);
-}
-FMMController::~FMMController()
-{
- EventBroker::getInstance().unsubscribe(this);
-}
-
-void FMMController::state_on_ground(const Event& ev)
+void FlightModeManager::state_on_ground(const Event& ev)
{
switch (ev)
{
case EV_ENTRY:
{
- // ...
-
- logStatus(ON_GROUND);
-
- LOG_DEBUG(logger, "[FMM] entering state on_ground\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state on_ground\n");
- break;
+ return logStatus(FlightModeManagerState::ON_GROUND);
}
case EV_LIFTOFF:
{
- transition(&FMMController::state_flying);
- break;
+ return transition(&FlightModeManager::state_flying);
}
case EV_TC_TEST_MODE:
{
- transition(&FMMController::state_debug);
- break;
- }
- default:
- {
- break;
+ return transition(&FlightModeManager::state_debug);
}
}
}
-void FMMController::state_flying(const Event& ev)
+void FlightModeManager::state_flying(const Event& ev)
{
switch (ev)
{
case EV_ENTRY:
{
- // ...
-
- logStatus(FLYING_STATE);
-
- LOG_DEBUG(logger, "[FMM] entering state flying\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state flying\n");
- break;
- }
-
- default:
- {
- break;
+ return logStatus(FlightModeManagerState::FLYING_STATE);
}
}
}
-void FMMController::state_debug(const Event& ev)
+void FlightModeManager::state_debug(const Event& ev)
{
switch (ev)
{
case EV_ENTRY:
{
- // ...
-
- logStatus(DEBUG_STATE);
-
- LOG_DEBUG(logger, "[FMM] entering state debug\n");
- break;
- }
- case EV_EXIT:
- {
- // ...
-
- LOG_DEBUG(logger, "[FMM] exiting state debug\n");
- break;
+ return logStatus(FlightModeManagerState::DEBUG_STATE);
}
case EV_TC_EXIT_TEST_MODE:
{
- transition(&FMMController::state_on_ground);
- break;
- }
- default:
- {
- break;
+ return transition(&FlightModeManager::state_on_ground);
}
}
}
-/* --- LOGGER --- */
+FlightModeManager::FlightModeManager()
+ : FSM(&FlightModeManager::state_on_ground)
+{
+ EventBroker::getInstance().subscribe(this, TOPIC_FMM);
+ EventBroker::getInstance().subscribe(this, TOPIC_TMTC);
+}
-void FMMController::logStatus(FMMControllerState state)
+FlightModeManager::~FlightModeManager()
{
- status.state = state;
- logStatus();
+ EventBroker::getInstance().unsubscribe(this);
}
-void FMMController::logStatus()
+void FlightModeManager::logStatus(FlightModeManagerState state)
{
- status.timestamp = miosix::getTick();
- SDlogger->log(status);
+ status.timestamp = TimestampTimer::getTimestamp();
+ status.state = state;
+
+ Logger::getInstance().log(state);
}
} // namespace Parafoil
diff --git a/src/boards/Parafoil/FlightModeManager/FMMController.h b/src/boards/Parafoil/FlightModeManager/FlightModeManager.h
similarity index 80%
rename from src/boards/Parafoil/FlightModeManager/FMMController.h
rename to src/boards/Parafoil/FlightModeManager/FlightModeManager.h
index 1f03ed297..ef9b5777c 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMController.h
+++ b/src/boards/Parafoil/FlightModeManager/FlightModeManager.h
@@ -25,31 +25,32 @@
#include <diagnostic/PrintLogger.h>
#include <events/FSM.h>
-#include "FMMData.h"
+#include "FlightModeManagerData.h"
namespace Parafoil
{
-/**
- * @brief FMM state machine
- */
-class FMMController : public Boardcore::FSM<FMMController>
+
+class FlightModeManager : public Boardcore::FSM<FlightModeManager>,
+ public Boardcore::Singleton<FlightModeManager>
{
-public:
- FMMController();
- ~FMMController();
+ friend Boardcore::Singleton<FlightModeManager>;
+public:
void state_on_ground(const Boardcore::Event& ev);
+
void state_flying(const Boardcore::Event& ev);
+
void state_debug(const Boardcore::Event& ev);
private:
- FMMControllerStatus status;
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("FMM");
- Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
+ FlightModeManager();
+ ~FlightModeManager();
- /* --- LOGGER --- */
+ FlightModeManagerStatus status;
- void logStatus(FMMControllerState state);
- void logStatus();
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("fmm");
+
+ void logStatus(FlightModeManagerState state);
};
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/FlightModeManager/FMMData.h b/src/boards/Parafoil/FlightModeManager/FlightModeManagerData.h
similarity index 85%
rename from src/boards/Parafoil/FlightModeManager/FMMData.h
rename to src/boards/Parafoil/FlightModeManager/FlightModeManagerData.h
index 09a17d601..9764943ff 100644
--- a/src/boards/Parafoil/FlightModeManager/FMMData.h
+++ b/src/boards/Parafoil/FlightModeManager/FlightModeManagerData.h
@@ -30,23 +30,18 @@
namespace Parafoil
{
-/**
- * Enum defining the possibile FSM states.
- */
-enum FMMControllerState : uint8_t
+enum class FlightModeManagerState : uint8_t
{
- ON_GROUND = 0,
+ UNINIT = 0,
+ ON_GROUND,
FLYING_STATE,
DEBUG_STATE,
};
-/**
- * Structure defining the overall controller status.
- */
-struct FMMControllerStatus
+struct FlightModeManagerStatus
{
- long long timestamp;
- FMMControllerState state;
+ uint64_t timestamp = 0;
+ FlightModeManagerState state = FlightModeManagerState::UNINIT;
static std::string header() { return "timestamp,state\n"; }
diff --git a/src/boards/Parafoil/Main/Radio.cpp b/src/boards/Parafoil/Main/Radio.cpp
deleted file mode 100644
index 1b0c61a52..000000000
--- a/src/boards/Parafoil/Main/Radio.cpp
+++ /dev/null
@@ -1,387 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/Configs/RadioConfig.h>
-#include <Parafoil/Configs/WingConfig.h>
-#include <Parafoil/Configs/XbeeConfig.h>
-#include <Parafoil/Main/Radio.h>
-#include <Parafoil/ParafoilTest.h>
-#include <Parafoil/TelemetriesTelecommands/TMRepository.h>
-#include <Parafoil/Wing/WingTargetPositionData.h>
-#include <common/events/Topics.h>
-#include <drivers/interrupt/external_interrupts.h>
-#include <drivers/spi/SPIDriver.h>
-#include <radio/Xbee/ATCommands.h>
-#include <utils/AeroUtils/AeroUtils.h>
-
-using std::bind;
-using namespace std::placeholders;
-using namespace Boardcore;
-
-// Xbee ATTN interrupt
-/**
- * @brief We must define the interrupt handler. This calls
- * the message handler which is: handleMavlinkMessage
- */
-void __attribute__((used)) EXTI10_IRQHandlerImpl()
-{
- using namespace Parafoil;
-
- /*if (ParafoilTest::getInstance().radio->xbee != nullptr)
- {
- ParafoilTest::getInstance().radio->xbee->handleATTNInterrupt();
- }*/
- if (ParafoilTest::getInstance().radio->module != nullptr)
- {
- ParafoilTest::getInstance().radio->module->handleDioIRQ();
- }
-}
-
-namespace Parafoil
-{
-
-Radio::Radio(SPIBusInterface& xbee_bus, TaskScheduler* scheduler)
- : xbee_bus(xbee_bus)
-{
- // Create a SPI configuration object
- SPIBusConfig config{};
-
- // Set the internal scheduler
- this->scheduler = scheduler;
-
- // Set the internal telemetry status to low rate
- this->HRtelemetry = false;
-
- // Add a clock divider config
- config.clockDivider = SPI::ClockDivider::DIV_16;
-
- // Instantiate the xbee object
- /*xbee = new Xbee::Xbee(xbee_bus, config,
- XBEE_CS,
- XBEE_ATTN,
- XBEE_RESET);*/
- module = new SX1278(xbee_bus, XBEE_CS);
-
- // Create the mavlink driver
- mav_driver =
- new MavDriver(module, bind(&Radio::handleMavlinkMessage, this, _1, _2),
- SLEEP_AFTER_SEND, MAV_OUT_BUFFER_MAX_AGE);
-}
-
-Radio::~Radio()
-{
- // TODO destruct
-}
-
-void Radio::handleMavlinkMessage(MavDriver* driver,
- const mavlink_message_t& msg)
-{
- // log status
- ParafoilTest::getInstance().radio->logStatus();
-
- LOG_DEBUG(logger, "Message received!");
-
- // acknowledge
- sendAck(msg);
-
- // handle TC
- switch (msg.msgid)
- {
- case MAVLINK_MSG_ID_COMMAND_TC: // basic command
- {
- LOG_DEBUG(logger, "Received NOARG command");
- uint8_t commandId = mavlink_msg_command_tc_get_command_id(&msg);
-
- // search for the corresponding event and post it
- auto it = tcMap.find(commandId);
- if (it != tcMap.end())
- EventBroker::getInstance().post(Event{it->second}, TOPIC_TMTC);
- else
- LOG_WARN(logger, "Unknown NOARG command {:d}", commandId);
-
- switch (commandId)
- {
- case MAV_CMD_FORCE_REBOOT:
- SDlogger->stop();
- LOG_INFO(logger, "Received command BOARD_RESET");
- miosix::reboot();
- break;
- case MAV_CMD_CLOSE_LOG:
- SDlogger->stop();
- sendSystemTelemetry(MAV_LOGGER_ID);
- LOG_INFO(logger, "Received command CLOSE_LOG");
- break;
- case MAV_CMD_START_LOGGING:
- ParafoilTest::getInstance().SDlogger->start();
- sendSystemTelemetry(MAV_LOGGER_ID);
- LOG_INFO(logger, "Received command START_LOG");
- break;
- case MAV_CMD_TEST_MODE:
- // Use the test mode to apply the sequence
- ParafoilTest::getInstance().wingController->start();
- break;
- case MAV_CMD_FORCE_LANDING:
- // Reset the servo position
- ParafoilTest::getInstance().wingController->reset();
- break;
- default:
- break;
- }
- break;
- }
- case MAVLINK_MSG_ID_SYSTEM_TM_REQUEST_TC: // tm request
- {
- uint8_t tmId = mavlink_msg_system_tm_request_tc_get_tm_id(&msg);
- LOG_DEBUG(logger, "Received TM request : id = {:d}", tmId);
-
- // send corresponding telemetry or NACK
- sendSystemTelemetry(tmId);
-
- break;
- }
- case MAVLINK_MSG_ID_SENSOR_TM_REQUEST_TC:
- {
- uint8_t tmId = mavlink_msg_sensor_tm_request_tc_get_sensor_id(&msg);
-
- // Send corresponding telemetry or NACK
- sendSensorTelemetry(tmId);
-
- break;
- }
- case MAVLINK_MSG_ID_SET_ALGORITHM_TC:
- {
- uint8_t algorithmId =
- mavlink_msg_set_algorithm_tc_get_algorithm_number(&msg);
-
- // Set the algorithm (invalid cases are checked inside the method)
- ParafoilTest::getInstance().wingController->selectAlgorithm(
- algorithmId);
-
- break;
- }
- case MAVLINK_MSG_ID_SET_TARGET_COORDINATES_TC:
- {
- float lat =
- mavlink_msg_set_target_coordinates_tc_get_latitude(&msg);
- float lon =
- mavlink_msg_set_target_coordinates_tc_get_longitude(&msg);
-
- // Set also the barometer reference
- ParafoilTest::getInstance().sensors->calibrate();
-
- // Set the target referencing to GPS coordinates
- UBXGPSData gps =
- ParafoilTest::getInstance().sensors->getGPSLastSample();
- if (gps.fix != 0)
- {
- auto targetPosition = Boardcore::Aeroutils::geodetic2NED(
- Eigen::Vector2f(lat, lon),
- Eigen::Vector2f(gps.latitude, gps.longitude));
-
- ParafoilTest::getInstance().wingController->setTargetPosition(
- targetPosition);
-
- Logger::getInstance().log(WingTargetPositionData{
- gps.latitude, gps.longitude, targetPosition(0),
- targetPosition(1)});
-
- // Set also the initial position of the NASController
- ParafoilTest::getInstance().algorithms->nas->setInitialPosition(
- Eigen::Vector2f(gps.latitude, gps.longitude));
- }
- break;
- }
- case MAVLINK_MSG_ID_RAW_EVENT_TC: // post a raw event
- {
- LOG_DEBUG(logger, "Received RAW_EVENT command");
-
- // post given event on given topic
- EventBroker::getInstance().post(
- {mavlink_msg_raw_event_tc_get_event_id(&msg)},
- mavlink_msg_raw_event_tc_get_topic_id(&msg));
- break;
- }
- case MAVLINK_MSG_ID_PING_TC:
- {
- LOG_DEBUG(logger, "Ping received");
- break;
- }
- default:
- {
- LOG_DEBUG(logger, "Received message is not of a known type");
- break;
- }
- }
-
- // TODO REMOVE THIS ACK DONE BECAUSE OF ACK LOSS
- sendAck(msg);
-}
-
-bool Radio::sendSystemTelemetry(const uint8_t tm_id)
-{
- // Enqueue the message
- bool result =
- mav_driver->enqueueMsg(TMRepository::getInstance().packSystemTM(tm_id));
- // TODO log the operation
- return result;
-}
-
-bool Radio::sendSensorTelemetry(const uint8_t tm_id)
-{
- // Enqueue the message
- bool result =
- mav_driver->enqueueMsg(TMRepository::getInstance().packSensorTM(tm_id));
- return result;
-}
-
-void Radio::sendHRTelemetry()
-{
- // sendTelemetry(MAV_HR_TM_ID);
- // TEST ONLY
- sendSystemTelemetry(MAV_FLIGHT_ID);
-}
-
-void Radio::sendLRTelemetry()
-{
- // I send this telemetry if and only if the status is
- // in low rate telemetry
- sendSystemTelemetry(MAV_STATS_ID);
-}
-
-void Radio::sendSDLogTelemetry() { sendSystemTelemetry(MAV_LOGGER_ID); }
-
-void Radio::sendServoTelemetry()
-{
- mavlink_message_t msg;
- mavlink_servo_tm_t tm;
-
- tm.servo_id = PARAFOIL_SERVO1;
- tm.servo_position =
- ParafoilTest::getInstance().wingController->getServoPosition(
- PARAFOIL_SERVO1);
- mavlink_msg_servo_tm_encode(TMTC_MAV_SYSID, TMTC_MAV_COMPID, &msg, &tm);
- mav_driver->enqueueMsg(msg);
-
- tm.servo_id = PARAFOIL_SERVO2;
- tm.servo_position =
- ParafoilTest::getInstance().wingController->getServoPosition(
- PARAFOIL_SERVO2);
- mavlink_msg_servo_tm_encode(TMTC_MAV_SYSID, TMTC_MAV_COMPID, &msg, &tm);
- mav_driver->enqueueMsg(msg);
-}
-
-void Radio::sendAck(const mavlink_message_t& msg)
-{
- mavlink_message_t ackMsg;
- // Pack the ack message based on the received message
- mavlink_msg_ack_tm_pack(TMTC_MAV_SYSID, TMTC_MAV_COMPID, &ackMsg, msg.msgid,
- msg.seq);
-
- // Put the message in the queue
- mav_driver->enqueueMsg(ackMsg);
- // TODO log the thing
-}
-
-void Radio::toggleHRTelemetry()
-{
- // Lock the kernel to avoid context switch during this toggle
- miosix::PauseKernelLock kLock;
- TaskScheduler::function_t HRfunction([=]() { sendHRTelemetry(); });
- HRtelemetry = !HRtelemetry;
-
- if (HRtelemetry)
- {
- // If we switched to hr telemetry on flight i change the period
- scheduler->removeTask(RADIO_HR_ID);
- // Add the same task with a faster period
- scheduler->addTask(HRfunction, HR_FLIGHT_UPDATE_PERIOD, RADIO_HR_ID);
- }
- else
- {
- // If we switched to hr telemetry on ground i change the period
- scheduler->removeTask(RADIO_HR_ID);
- // Add the same task with a slower period
- scheduler->addTask(HRfunction, HR_GROUND_UPDATE_PERIOD, RADIO_HR_ID);
- }
-}
-
-bool Radio::start()
-{
- // Init the radio module
- init();
-
- // Start the mavlink driver
- bool result = mav_driver->start();
-
- // Start the scheduler
- // result &= scheduler -> start();
-
- return result;
-}
-
-void Radio::logStatus()
-{
- // TODO log
-}
-
-void Radio::onXbeeFrameReceived(Xbee::APIFrame& frame)
-{
- // Log the thing
-}
-
-void Radio::init()
-{
- // Create the lambdas to be called
- TaskScheduler::function_t HRfunction([=]() { sendHRTelemetry(); });
- TaskScheduler::function_t LRfunction([=]() { sendLRTelemetry(); });
- TaskScheduler::function_t SDfunction([=]() { sendSDLogTelemetry(); });
-
- // Enable external interrupt on F10 pin
- // TODO for xbee is FALLING
- enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::RISING_EDGE);
-
- // Init the radio module with default configs
- SX1278::Config conf;
- SX1278::Error initError = module->init(conf);
-
- // Check if there was an error initalizing the SX1278
- if (initError != SX1278::Error::NONE)
- {
- LOG_ERR(logger, "Error starting the SX1278 radio");
- return;
- }
-
- // Register the LR and HR tasks in the scheduler
- scheduler->addTask(HRfunction, 250, RADIO_HR_ID);
- // scheduler->addTask(LRfunction, LR_UPDATE_PERIOD, RADIO_LR_ID);
- scheduler->addTask(SDfunction, SD_UPDATE_PERIOD, SD_UPDATE_ID);
- scheduler->addTask([=]() { sendServoTelemetry(); }, 1000);
-
- // Set the frame receive callback
- // xbee -> setOnFrameReceivedListener(
- // bind(&Radio::onXbeeFrameReceived, this, _1));
-
- // Set the data rate
- // Xbee::setDataRate(*xbee, XBEE_80KBPS_DATA_RATE, XBEE_TIMEOUT);
-}
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Radio.h b/src/boards/Parafoil/Main/Radio.h
deleted file mode 100644
index 5cfc2d11d..000000000
--- a/src/boards/Parafoil/Main/Radio.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/TelemetriesTelecommands/Mavlink.h>
-#include <common/events/Events.h>
-#include <radio/SX1278/SX1278.h>
-#include <radio/Xbee/Xbee.h>
-#include <scheduler/TaskScheduler.h>
-
-/**
- * @brief This class represents the radio module. It allows the communications
- * between the xbee radio module and the on board software. The main tasks are
- * about sending automatic updates to ground based on the current state (High
- * rate telemetry or Low rate telemetry) and handle the messages from the ground
- * station. To handle the various messages there is an apposit callback method
- * and, to pack the optional reply data we use the TMRepository singleton.
- */
-namespace Parafoil
-{
-
-class Radio
-{
-public:
- /**
- * @brief The xbee module driver
- */
- // Xbee::Xbee* xbee;
- Boardcore::SX1278* module;
-
- /**
- * @brief Construct a new Radio object
- *
- * @param xbee_bus The Xbee SPI bus
- */
- Radio(Boardcore::SPIBusInterface& xbee_bus,
- Boardcore::TaskScheduler* scheduler);
-
- /**
- * @brief Destroy the Radio object
- */
- ~Radio();
-
- /**
- * @brief Method called when a mavlink message is received
- *
- * @param msg The parsed message
- */
- void handleMavlinkMessage(MavDriver* driver, const mavlink_message_t& msg);
-
- /**
- * @brief This method is used to add in send queue
- * the requested system message. It is necessary to call the
- * TMrepository to process the actual packet.
- *
- * @param tm_id The requested message id
- * @return boolean that indicates the operation's result
- */
- bool sendSystemTelemetry(const uint8_t tm_id);
-
- /**
- * @brief This method is used to add in send queue
- * the requested sensor message. It is necessary to call the
- * TMrepository to process the actual packet.
- *
- * @param tm_id The requested message id
- * @return boolean that indicates the operation's result
- */
- bool sendSensorTelemetry(const uint8_t tm_id);
-
- /**
- * @brief Method automatically called by the task
- * scheduler that sends the high rate telemetry
- */
- void sendHRTelemetry();
-
- /**
- * @brief Method automatically called by the task
- * scheduler that sends the high rate telemetry
- */
- void sendLRTelemetry();
-
- /**
- * @brief Method automatically called by the task
- * scheduler that sends the SD logger infos
- */
- void sendSDLogTelemetry();
-
- void sendServoTelemetry();
-
- /**
- * @brief Every time a message is received we send
- * an ack message to tell the ground station that we
- * received the message
- *
- * @param msg The message received that we need to ack
- */
- void sendAck(const mavlink_message_t& msg);
-
- /**
- * @brief Method to change the telemetry rate
- */
- void toggleHRTelemetry();
-
- bool start();
-
- void logStatus();
-
-private:
- // 1 to 1 corrispondence of every message to its event
- const std::map<uint8_t, uint8_t> tcMap = {
- {MAV_CMD_ARM, EV_TC_ARM},
- {MAV_CMD_DISARM, EV_TC_DISARM},
-
- {MAV_CMD_FORCE_LAUNCH, EV_TC_LAUNCH},
- {MAV_CMD_FORCE_LANDING, EV_TC_LAND},
-
- {MAV_CMD_FORCE_EXPULSION, EV_TC_NC_OPEN},
- {MAV_CMD_FORCE_MAIN, EV_TC_CUT_DROGUE},
-
- {MAV_CMD_START_LOGGING, EV_TC_START_LOG},
- {MAV_CMD_CLOSE_LOG, EV_TC_CLOSE_LOG},
-
- {MAV_CMD_FORCE_REBOOT, EV_TC_RESET_BOARD},
- {MAV_CMD_TEST_MODE, EV_TC_TEST_MODE},
-
- {MAV_CMD_START_RECORDING, EV_TC_START_RECORDING},
- {MAV_CMD_STOP_RECORDING, EV_TC_STOP_RECORDING}};
-
- /**
- * @brief The mavlink driver
- */
- MavDriver* mav_driver;
-
- /**
- * @brief SPI bus
- */
- Boardcore::SPIBusInterface& xbee_bus;
-
- /**
- * @brief Main task scheduler
- */
- Boardcore::TaskScheduler* scheduler;
-
- /**
- * @brief high rate telemetry status.
- * false -> LR telemetry
- * true -> HR telemetry
- */
- bool HRtelemetry;
-
- /**
- * @brief Logger
- */
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Radio");
-
- /**
- * @brief SD logger (pre started because of the ParafoilTest.h main class)
- */
- Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
-
- /**
- * @brief Radio frame received callback method.
- * It's used for logging purposes
- */
- void onXbeeFrameReceived(Boardcore::Xbee::APIFrame& frame);
-
- /**
- * @brief Method to initialize all the variables and objects
- * and to register the HR and LR tasks into the task scheduler
- */
- void init();
-};
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Sensors.cpp b/src/boards/Parafoil/Main/Sensors.cpp
deleted file mode 100644
index 650e1f42d..000000000
--- a/src/boards/Parafoil/Main/Sensors.cpp
+++ /dev/null
@@ -1,303 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 "Sensors.h"
-
-#include <Parafoil/Configs/SensorsConfig.h>
-#include <Parafoil/Configs/WingConfig.h>
-#include <Parafoil/ParafoilTest.h>
-#include <Parafoil/TelemetriesTelecommands/TMRepository.h>
-#include <math.h>
-#include <sensors/SensorInfo.h>
-#include <utils/AeroUtils/AeroUtils.h>
-
-using std::bind;
-using namespace Boardcore;
-
-namespace Parafoil
-{
-
-void Sensors::MPU9250init()
-{
- SPIBusConfig spiConfig{};
- spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
- spiConfig.mode = SPI::Mode::MODE_3;
- // I create first a new SPISlave with all the settings
- SPISlave slave{spiInterface, IMU_CS, spiConfig};
-
- // Instantiate the object
- imu_mpu9250 =
- new MPU9250(spiInterface, IMU_CS, spiConfig, IMU_SAMPLE_RATE,
- IMU_GYRO_SCALE, IMU_ACCEL_SCALE, SPI::ClockDivider::DIV_16);
-
- // Bind the information
- SensorInfo info("MPU9250", IMU_SAMPLE_PERIOD,
- bind(&Sensors::MPU9250Callback, this), true);
-
- // Insert the sensor in the common map
- sensors_map.emplace(std::make_pair(imu_mpu9250, info));
-
- // Log the results
- LOG_INFO(log, "IMU MPU9250 Setup done!");
-}
-
-void Sensors::MPU9250Callback()
-{
- // Log the sample
- MPU9250Data d = imu_mpu9250->getLastSample();
- logger->log(imu_mpu9250->getLastSample());
- LOG_DEBUG(log, "{:.2f} {:.2f} {:.2f}", d.accelerationX, d.accelerationY,
- d.accelerationZ);
-}
-
-void Sensors::UbloxGPSinit()
-{
- // Instantiate the object TODO set the sample rate and stuff
- gps_ublox = new UBXGPSSerial(256000, GPS_SAMPLE_RATE, 2, "gps", 9600);
-
- // Bind the information with the callback method
- SensorInfo info("UbloxGPS", GPS_SAMPLE_PERIOD,
- bind(&Sensors::UbloxGPSCallback, this), true);
-
- // Insert the sensor in the common map
- sensors_map.emplace(std::make_pair(gps_ublox, info));
-
- // Log the result
- LOG_INFO(log, "Ublox GPS Setup done!");
-}
-
-void Sensors::UbloxGPSCallback()
-{
- // Log the sample
- UBXGPSData d = gps_ublox->getLastSample();
- logger->log(gps_ublox->getLastSample());
- if (d.fix)
- {
- LOG_DEBUG(log, "{:.2f} {:.2f}", d.latitude, d.longitude);
- }
-}
-
-void Sensors::BME280init()
-{
- // I first create a SPI slave needed to instantiate the sensor
- SPISlave slave(spiInterface, PRESS_CS, SPIBusConfig{});
-
- slave.config.clockDivider = SPI::ClockDivider::DIV_16;
- slave.config.mode = SPI::Mode::MODE_0;
-
- auto config = BME280::BME280_CONFIG_ALL_ENABLED;
- config.bits.oversamplingPressure = BME280::OVERSAMPLING_4;
-
-#ifdef MOCK_SENSORS
- // Instantiate the mock sensor
- mockPressure = new MockPressureSensor();
-
- // start the sensor
- mockPressure->signalLiftoff();
-
- // Bind the information with the callback method
- SensorInfo info("BME280", PRESS_SAMPLE_PERIOD,
- bind(&Sensors::BME280Callback, this), true);
- // Insert the sensor in the common map
- sensors_map.emplace(std::make_pair(mockPressure, info));
-#else
- // Instantiate the object
- press_bme280 = new BME280(slave, config);
-
- // Set the standby time
- press_bme280->setStandbyTime(PRESS_SAMPLE_RATE);
-
- // Bind the information with the callback method
- SensorInfo info("BME280", PRESS_SAMPLE_PERIOD,
- bind(&Sensors::BME280Callback, this), true);
- // Insert the sensor in the common map
- sensors_map.emplace(std::make_pair(press_bme280, info));
-#endif
-
- // Log the result
- LOG_INFO(log, "BME280 Setup done!");
-}
-
-void Sensors::BME280Callback()
-{
- // Log the sample
-
-#ifdef MOCK_SENSORS
- // Create the d data but with the mock informations
- BME280Data d;
- d.pressure = mockPressure->getLastSample().pressure;
- d.pressureTimestamp = 25;
-#else
- BME280Data d = press_bme280->getLastSample();
- logger->log(press_bme280->getLastSample());
-#endif
- LOG_DEBUG(log, "{:.2f} {:.2f} {:.2f}", d.pressure, d.temperature,
- d.humidity);
-
- // Here i put the logic for wing procedure start and flare
- static bool procedureArm = false;
- static bool flareArm = false;
- static uint8_t count = 0;
- static Boardcore::Stats pressureMean{};
- static Boardcore::Stats temperatureMean{};
-
- // If we reache the needed samples
- if (count == WING_PRESSURE_MEAN_COUNT)
- {
- // In case of calibration needed i calibrate
- if (needsCalibration)
- {
- WING_CALIBRATION_PRESSURE = pressureMean.getStats().mean;
- WING_CALIBRATION_TEMPERATURE =
- temperatureMean.getStats().mean + 273.15;
-
- // Reset the mean values
- count = 0;
- pressureMean.reset();
- temperatureMean.reset();
-
- // Set calibrated status
- needsCalibration = false;
-
- // I don't want to calculate stuff
- return;
- }
-
- // Calculate the height
- float height = Aeroutils::relAltitude(pressureMean.getStats().mean,
- WING_CALIBRATION_PRESSURE,
- WING_CALIBRATION_TEMPERATURE);
-
- // Update the radio repository
- d.pressure = pressureMean.getStats().mean;
- d.temperature = temperatureMean.getStats().mean;
-
- // Decide what the wing should do
- if (height > WING_ALGORITHM_ARM_ALTITUDE && !procedureArm)
- {
- procedureArm = true;
- }
-
- if (height < WING_ALGORITHM_START_ALTITUE && procedureArm)
- {
- // Disarm the starting command
- procedureArm = false;
-
- // Arm the flare command
- flareArm = true;
-
- // Start the algorithm
- ParafoilTest::getInstance().wingController->start();
- }
-
- if (height < WING_FLARE_ALTITUDE && flareArm)
- {
- // Disarm the starting command
- flareArm = false;
-
- // Flare
- ParafoilTest::getInstance().wingController->flare();
- }
-
- // Reset the mean values
- count = 0;
- pressureMean.reset();
- temperatureMean.reset();
- }
-
- // Add the current value to the mean and increase the counting
- pressureMean.add(d.pressure);
- temperatureMean.add(d.temperature);
- count++;
-}
-
-Sensors::Sensors(SPIBusInterface& spi, TaskScheduler* scheduler)
- : spiInterface(spi)
-{
- // Take the SD logger singleton
- logger = &Logger::getInstance();
-
- // Sensor init
- MPU9250init();
- miosix::Thread::sleep(200);
- UbloxGPSinit();
- miosix::Thread::sleep(200);
- BME280init();
- miosix::Thread::sleep(200);
-
- // Sensor manager instance
- // At this point sensors_map contains all the initialized sensors
- // cppcheck-suppress noCopyConstructor
- // cppcheck-suppress noOperatorEq
- manager = new SensorManager(sensors_map, scheduler);
-}
-
-Sensors::~Sensors()
-{
- // Delete the sensors
- delete (imu_mpu9250);
- delete (gps_ublox);
-#ifdef MOCK_SENSORS
- delete (mockPressure);
-#else
- delete (press_bme280);
-#endif
-
- // Sensor manager stop and delete
- manager->stop();
- delete manager;
-}
-
-bool Sensors::start() { return manager->start(); }
-
-void Sensors::calibrate()
-{
- miosix::PauseKernelLock kLock;
- this->needsCalibration = true;
-}
-
-/**
- * GETTERS WITH LOCK
- */
-MPU9250Data Sensors::getMPU9250LastSample()
-{
- miosix::PauseKernelLock lock;
- return imu_mpu9250->getLastSample();
-}
-
-BME280Data Sensors::getBME280LastSample()
-{
- miosix::PauseKernelLock lock;
-#ifdef MOCK_SENSORS
- return BME280Data();
-#else
- return press_bme280->getLastSample();
-#endif
-}
-
-UBXGPSData Sensors::getGPSLastSample()
-{
- miosix::PauseKernelLock lock;
- return gps_ublox->getLastSample();
-}
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Main/Sensors.h b/src/boards/Parafoil/Main/Sensors.h
deleted file mode 100644
index 0e504b1cf..000000000
--- a/src/boards/Parafoil/Main/Sensors.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/mocksensors/MockPressureSensor.h>
-#include <sensors/BME280/BME280.h>
-#include <sensors/MPU9250/MPU9250.h>
-#include <sensors/SensorManager.h>
-#include <sensors/UBXGPS/UBXGPSSerial.h>
-
-/**
- * This class memorizes all the sensors instances.
- * Every instance is initialized by the constructor. Also every
- * sensor has its own status
- */
-namespace Parafoil
-{
-
-class Sensors
-{
-private:
- /**
- * @brief Sensor manager object
- */
- Boardcore::SensorManager* manager;
-
- /**
- * @brief Sensor map that contains every sensor istance
- * that needs to be sampled by the sensor manager
- */
- Boardcore::SensorManager::SensorMap_t sensors_map;
-
- /**
- * @brief SPI interface passed via constructor
- */
- Boardcore::SPIBusInterface& spiInterface;
-
- /**
- * @brief Sensors serial logger
- */
- Boardcore::PrintLogger log = Boardcore::Logging::getLogger("sensors");
-
- /**
- * @brief SD logger singleton
- */
- Boardcore::Logger* logger;
-
- /**
- * @brief boolean that indicates if the sensors need to calibrate
- */
- bool needsCalibration = false;
-
- /**
- * @brief The MPU9250 IMU init function and
- * sample callback
- */
- void MPU9250init();
- void MPU9250Callback();
-
- /**
- * @brief GPS init function and sample callback
- */
- void UbloxGPSinit();
- void UbloxGPSCallback();
-
- /**
- * @brief Barometer BME280 init function and sample callback
- */
- void BME280init();
- void BME280Callback();
-
-public:
- /**
- * @brief MPU9250IMU
- */
- Boardcore::MPU9250* imu_mpu9250;
-
- /**
- * @brief GPS
- */
- Boardcore::UBXGPSSerial* gps_ublox;
-
-/**
- * @brief Barometer
- */
-#ifdef MOCK_SENSORS
- MockPressureSensor* mockPressure;
-#else
- Boardcore::BME280* press_bme280;
-#endif
-
- /**
- * @brief Constructor
- * @param The spi interface used for the sensors
- * @param The task scheduler
- */
- Sensors(Boardcore::SPIBusInterface& spi,
- Boardcore::TaskScheduler* scheduler);
-
- /**
- * @brief Deconstructor
- */
- ~Sensors();
-
- /**
- * @brief Starts the sensor manager to sample data
- * @return boolean that indicates operation's result
- */
- bool start();
-
- /**
- * @brief Calibrates the sensors that need to
- */
- void calibrate();
-
- /**
- * @brief Lock getters
- */
- Boardcore::MPU9250Data getMPU9250LastSample();
- Boardcore::BME280Data getBME280LastSample();
- Boardcore::UBXGPSData getGPSLastSample();
-};
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Control/NASController.cpp b/src/boards/Parafoil/NASController/NASController.cpp
similarity index 59%
rename from src/boards/Parafoil/Control/NASController.cpp
rename to src/boards/Parafoil/NASController/NASController.cpp
index 513fa31ff..22af55f73 100644
--- a/src/boards/Parafoil/Control/NASController.cpp
+++ b/src/boards/Parafoil/NASController/NASController.cpp
@@ -22,98 +22,42 @@
#include "NASController.h"
-#include <Parafoil/ParafoilTest.h>
+#include <Parafoil/BoardScheduler.h>
+#include <Parafoil/Configs/NASConfig.h>
+#include <Parafoil/Sensors/Sensors.h>
#include <sensors/MPU9250/MPU9250Data.h>
#include <sensors/UBXGPS/UBXGPSData.h>
-namespace Parafoil
-{
-
-NASController::NASController(Boardcore::TaskScheduler* scheduler,
- Boardcore::NASConfig config)
-{
- this->scheduler = scheduler;
- this->config = config;
-
- // Create the nas
- nas = new Boardcore::NAS(config);
-}
-
-NASController::~NASController() { delete nas; }
-
-void NASController::calculateInitialOrientation()
-{
- // this->initialOrientation = orientation;
-
- // Mean 10 accelerometer values
- Eigen::Vector3f accelerometer;
- Eigen::Vector3f magnetometer;
- Eigen::Vector3f nedMag(0.4747, 0.0276, 0.8797);
- Boardcore::StateInitializer state;
-
- // Mean the values
- for (int i = 0; i < 10; i++)
- {
- Boardcore::MPU9250Data measure =
- ParafoilTest::getInstance().sensors->getMPU9250LastSample();
- accelerometer = accelerometer + Eigen::Vector3f(measure.accelerationX,
- measure.accelerationY,
- measure.accelerationZ);
- magnetometer = magnetometer + Eigen::Vector3f(measure.magneticFieldX,
- measure.magneticFieldY,
- measure.magneticFieldZ);
-
- // Wait for some time
- miosix::Thread::sleep(100);
- }
-
- accelerometer = accelerometer / 10;
- magnetometer = magnetometer / 10;
-
- // Normalize the data
- accelerometer.normalize();
- magnetometer.normalize();
-
- // Triad the initial orientation
- state.triad(accelerometer, magnetometer, nedMag);
+using namespace std;
+using namespace Boardcore;
- nas->setX(state.getInitX());
-}
-
-void NASController::setInitialPosition(Eigen::Vector2f position)
+namespace Parafoil
{
- this->initialPosition = position;
-}
void NASController::init()
{
// Set the reference values (whatever they represent)
- nas->setReferenceValues({0, 0, 0, 110000, 20 + 273.5});
+ nas.setReferenceValues({0, 0, 0, 110000, 20 + 273.5});
}
bool NASController::start()
{
- LOG_DEBUG(logger, "Starting NAS");
- // Add the update task to the scheduler
- scheduler->addTask(std::bind(&NASController::step, this), config.T * 1000,
- Boardcore::TaskScheduler::Policy::RECOVER);
-
// Calculate the initial orientation using triad algorithm
calculateInitialOrientation();
- // Start the scheduler
- return scheduler->start();
-}
+ // Add the update task to the scheduler
+ BoardScheduler::getInstance().getScheduler().addTask(
+ bind(&NASController::update, this), NASConfig::UPDATE_PERIOD,
+ TaskScheduler::Policy::RECOVER);
-Boardcore::NASState NASController::getLastSample() { return nas->getState(); }
+ return true;
+}
-void NASController::step()
+void NASController::update()
{
// Sample the sensors
- Boardcore::MPU9250Data imuData =
- ParafoilTest::getInstance().sensors->getMPU9250LastSample();
- Boardcore::UBXGPSData gpsData =
- ParafoilTest::getInstance().sensors->getGPSLastSample();
+ MPU9250Data imuData = Sensors::getInstance().getMpu9250LastSample();
+ UBXGPSData gpsData = Sensors::getInstance().getUbxGpsLastSample();
// Extrapolate all the data
Eigen::Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
@@ -126,7 +70,7 @@ void NASController::step()
// Put the GPS converted data into a 4d vector
Eigen::Vector2f gpsPos(gpsData.latitude, gpsData.longitude);
- gpsPos = Boardcore::Aeroutils::geodetic2NED(gpsPos, initialPosition);
+ gpsPos = Aeroutils::geodetic2NED(gpsPos, initialPosition);
Eigen::Vector2f gpsVel(gpsData.velocityNorth, gpsData.velocityEast);
Eigen::Vector4f gpsCorrection;
// cppcheck-suppress constStatement
@@ -145,23 +89,73 @@ void NASController::step()
}
// Predict step
- nas->predictGyro(angularVelocity);
+ nas.predictGyro(angularVelocity);
if (gpsPos[0] < 1e3 && gpsPos[0] > -1e3 && gpsPos[1] < 1e3 &&
gpsPos[1] > -1e3)
- nas->predictAcc(acceleration);
+ nas.predictAcc(acceleration);
// Correct step
magneticField.normalize();
- nas->correctMag(magneticField);
- // acceleration.normalize();
- // nas->correctAcc(acceleration);
+ nas.correctMag(magneticField);
if (gpsData.fix)
- nas->correctGPS(gpsCorrection);
- nas->correctBaro(100000);
+ nas.correctGPS(gpsCorrection);
+ nas.correctBaro(100000);
+
+ NASState nasState = nas.getState();
+
+ Logger::getInstance().log(nasState);
+}
+
+void NASController::calculateInitialOrientation()
+{
+ // Mean 10 accelerometer values
+ Eigen::Vector3f accelerometer;
+ Eigen::Vector3f magnetometer;
+ StateInitializer state;
+
+ // Mean the values
+ for (int i = 0; i < 10; i++)
+ {
+ MPU9250Data data = Sensors::getInstance().getMpu9250LastSample();
+ accelerometer += Eigen::Vector3f(data.accelerationX, data.accelerationY,
+ data.accelerationZ);
+ magnetometer += Eigen::Vector3f(
+ data.magneticFieldX, data.magneticFieldY, data.magneticFieldZ);
+
+ // Wait for some time
+ miosix::Thread::sleep(100);
+ }
+
+ accelerometer /= 10;
+ magnetometer /= 10;
- Boardcore::NASState nasState = nas->getState();
- // TRACE("w%fwa%fab%fbc%fc\n", nasState.qw, nasState.qx, nasState.qy,
- // nasState.qz);
- SDlogger->log(nasState);
+ // Normalize the data
+ accelerometer.normalize();
+ magnetometer.normalize();
+
+ // Triad the initial orientation
+ state.triad(accelerometer, magnetometer, NASConfig::nedMag);
+
+ nas.setX(state.getInitX());
+}
+
+void NASController::setInitialPosition(Eigen::Vector2f position)
+{
+ initialPosition = position;
}
+
+NASState NASController::getNasState() { return nas.getState(); }
+
+void NASController::setReferenceValues(const ReferenceValues reference)
+{
+ nas.setReferenceValues(reference);
+}
+
+ReferenceValues NASController::getReferenceValues()
+{
+ return nas.getReferenceValues();
+}
+
+NASController::NASController() : nas(NASConfig::config) {}
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/NASController/NASController.h b/src/boards/Parafoil/NASController/NASController.h
new file mode 100644
index 000000000..fad190cc9
--- /dev/null
+++ b/src/boards/Parafoil/NASController/NASController.h
@@ -0,0 +1,68 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio, Matteo Pignataro
+ *
+ * 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/NAS/NAS.h>
+#include <algorithms/NAS/StateInitializer.h>
+#include <scheduler/TaskScheduler.h>
+
+#include <Eigen/Core>
+#include <functional>
+
+namespace Parafoil
+{
+
+class NASController : public Boardcore::Singleton<NASController>
+{
+ friend Boardcore::Singleton<NASController>;
+
+public:
+ void init();
+
+ bool start();
+
+ void update();
+
+ void calculateInitialOrientation();
+
+ void setInitialPosition(Eigen::Vector2f position);
+
+ Boardcore::NASState getNasState();
+
+ void setReferenceValues(const Boardcore::ReferenceValues reference);
+
+ Boardcore::ReferenceValues getReferenceValues();
+
+private:
+ NASController();
+
+ Boardcore::NAS nas;
+
+ Eigen::Vector3f initialOrientation;
+ Eigen::Vector2f initialPosition{42.571820, 12.585861};
+
+ Boardcore::PrintLogger logger =
+ Boardcore::Logging::getLogger("parafoil.nas");
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/ParafoilTest.h b/src/boards/Parafoil/ParafoilTest.h
deleted file mode 100644
index 518a64126..000000000
--- a/src/boards/Parafoil/ParafoilTest.h
+++ /dev/null
@@ -1,270 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/Control/Algorithms.h>
-#include <Parafoil/FlightModeManager/FMMController.h>
-#include <Parafoil/Main/Radio.h>
-#include <Parafoil/Main/Sensors.h>
-#include <Parafoil/ParafoilTestStatus.h>
-#include <Parafoil/Wing/WingController.h>
-#include <drivers/spi/SPIDriver.h>
-#include <events/EventBroker.h>
-#include <miosix.h>
-
-/**
- * This class is the main singleton that keeps all the project objects.
- * It has all the instances and initializes all of them.
- */
-namespace Parafoil
-{
-
-enum ThreadIds : uint8_t
-{
- THID_ENTRYPOINT = Boardcore::THID_FIRST_AVAILABLE_ID,
- THID_FMM_FSM,
- THID_TMTC_FSM,
- THID_STATS_FSM,
- THID_ADA_FSM,
- THID_NAS_FSM,
- THID_TASK_SCHEDULER
-};
-
-enum TaskIDs : uint8_t
-{
- TASK_SCHEDULER_STATS_ID = 0,
- TASK_SENSORS_6_MS_ID = 1,
- TASK_SENSORS_15_MS_ID = 2,
- TASK_SENSORS_20_MS_ID = 3,
- TASK_SENSORS_24_MS_ID = 4,
- TASK_SENSORS_40_MS_ID = 5,
- TASK_SENSORS_1000_MS_ID = 6,
- TASK_ADA_ID = 7,
- TASK_NAS_ID = 9
-};
-
-class ParafoilTest : public Boardcore::Singleton<ParafoilTest>
-{
- friend class Boardcore::Singleton<ParafoilTest>;
-
-public:
- /**
- * @brief Event broker
- */
- Boardcore::EventBroker* broker;
-
- /**
- * @brief Sensors collection
- */
- Sensors* sensors;
-
- /**
- * @brief Wing algorithm controller
- */
- WingController* wingController;
-
- /**
- * @brief Radio that manages the interaction between
- * the xbee module and mavlink
- */
- Radio* radio;
-
- /**
- * @brief Algorithms
- */
- Algorithms* algorithms;
-
- /**
- * @brief Main FSM
- */
- FMMController* FMM;
-
- /**
- * @brief Task scheduler
- */
- Boardcore::TaskScheduler* generalScheduler;
- Boardcore::TaskScheduler* sensorsScheduler;
- Boardcore::TaskScheduler* algorithmsScheduler;
-
- /**
- * @brief SDlogger singleton for SD
- */
- Boardcore::Logger* SDlogger;
-
- /**
- * @brief Start method
- */
- void start()
- {
- // Start the SD logger
- if (!SDlogger->start())
- {
- LOG_ERR(log, "Error starting the logger");
- status.setError(&ParafoilTestStatus::logger);
- }
-
- // Log the logger stats
- SDlogger->log(SDlogger->getStats());
-
- if (!generalScheduler->start())
- {
- LOG_ERR(log, "Error starting the general purpose scheduler");
- }
-
- // Start the broker
- if (!broker->start())
- {
- LOG_ERR(log, "Error starting EventBroker");
- status.setError(&ParafoilTestStatus::eventBroker);
- }
-
- // Start the sensors sampling
- if (!sensors->start() || !sensorsScheduler->start())
- {
- LOG_ERR(log, "Error starting sensors");
- status.setError(&ParafoilTestStatus::sensors);
- }
-
- // Start the main FSM
- /*if(!FMM -> start())
- {
- LOG_ERR(log, "Error starting the main FSM");
- status.setError(&ParafoilTestStatus::FMM);
- }*/
-
- // Start the radio
- if (!radio->start())
- {
- LOG_ERR(log, "Error starting the radio");
- status.setError(&ParafoilTestStatus::radio);
- }
-
- // Start the algorithms
- if (!algorithms->start())
- {
- LOG_ERR(log, "Error starting the algorithms");
- status.setError(&ParafoilTestStatus::algorithms);
- }
-
- // wingController->start();
-
- // After all the initializations i log the status
- SDlogger->log(status);
-
- // Status LED declaration
- miosix::GpioPin statusLed(GPIOG_BASE, 13);
- statusLed.mode(miosix::Mode::OUTPUT);
- statusLed.low();
-
- // If all is ok i can send the signal to the FSMs
- if (status.parafoil_test != OK)
- {
- LOG_ERR(log, "Initialization failed");
- // TODO add event to inibit the state machines
- }
- else
- {
- statusLed.high();
- LOG_INFO(log, "Initialization ok");
- // TODO add event to start the state machines
- }
- }
-
-private:
- /**
- * @brief SDlogger in debug mode
- */
- Boardcore::PrintLogger log = Boardcore::Logging::getLogger("ParafoilTest");
-
- /**
- * @brief Status memory
- */
- ParafoilTestStatus status{};
-
- /**
- * @brief Constructor
- */
- ParafoilTest()
- {
- // Take the singleton instance of SD logger
- SDlogger = &Boardcore::Logger::getInstance();
-
- // Store the broker
- broker = &Boardcore::EventBroker::getInstance();
-
- // Create the task scheduler
- generalScheduler = new Boardcore::TaskScheduler();
- sensorsScheduler = new Boardcore::TaskScheduler();
- algorithmsScheduler = new Boardcore::TaskScheduler();
- addSchedulerStatsTask();
-
- // Create the sensors
- Boardcore::SPIBusInterface* spiInterface1 = new Boardcore::SPIBus(SPI1);
- sensors = new Sensors(*spiInterface1, sensorsScheduler);
-
- // Create the wing controller
- wingController = new WingController(generalScheduler);
- wingController->addAlgorithm("/sd/servoTerni1.csv"); // 0
- wingController->addAlgorithm("/sd/servoTerni2.csv"); // 1
- wingController->addAlgorithm("/sd/servoCorta.csv"); // 2
- wingController->addAlgorithm("/sd/servoLunga.csv"); // 3
- wingController->addAlgorithm(new AutomaticWingAlgorithm(0.5, 0)); // 4
- wingController->addAlgorithm(
- new AutomaticWingAlgorithm(0.1, 0.01)); // 5
- wingController->addAlgorithm(new AutomaticWingAlgorithm(1, 0.1)); // 6
- wingController->selectAlgorithm(6);
- // Create the main FSM
- // FMM = new FMMController();
-
- // Create a new radio
- Boardcore::SPIBusInterface* spiInterface4 = new Boardcore::SPIBus(SPI4);
- radio = new Radio(*spiInterface4, generalScheduler);
-
- // Create the algorithms
- algorithms = new Algorithms(algorithmsScheduler);
- }
-
- void addSchedulerStatsTask()
- {
- // add lambda to log scheduler tasks statistics
- generalScheduler->addTask(
- [&]()
- {
- std::vector<Boardcore::TaskStatsResult> scheduler_stats =
- generalScheduler->getTaskStats();
-
- for (Boardcore::TaskStatsResult stat : scheduler_stats)
- {
- SDlogger->log(stat);
- }
-
- Boardcore::StackLogger::getInstance().updateStack(
- THID_TASK_SCHEDULER);
- },
- 1000, // 1 hz
- TASK_SCHEDULER_STATS_ID, Boardcore::TaskScheduler::Policy::SKIP,
- miosix::getTick());
- }
-};
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/ParafoilTestStatus.h b/src/boards/Parafoil/ParafoilTestStatus.h
deleted file mode 100644
index 1412f647c..000000000
--- a/src/boards/Parafoil/ParafoilTestStatus.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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.
- */
-
-/**
- * This class is used to keep track of various main class
- * initialization errors.
- */
-
-#pragma once
-
-#include <ostream>
-#include <string>
-
-namespace Parafoil
-{
-
-enum ParafoilTestComponentStatus
-{
- ERROR = 0,
- OK = 1
-};
-
-struct ParafoilTestStatus
-{
- // If there is an error, this uint8_t reports it(OR)
- uint8_t parafoil_test = OK;
-
- // Specific errors
- uint8_t logger = OK;
- uint8_t eventBroker = OK;
- uint8_t sensors = OK;
- uint8_t FMM = OK;
- uint8_t radio = OK;
- uint8_t algorithms = OK;
-
- /**
- * @brief Method to set a specific component in an error state
- */
- void setError(uint8_t ParafoilTestStatus::*component)
- {
- // Put the passed component to error state
- this->*component = ERROR;
- // Logic OR
- parafoil_test = ERROR;
- }
-
- static std::string header()
- {
- return "logger, eventBorker, sensors, radio, algorithms\n";
- }
-
- void print(std::ostream& os) const
- {
- os << (int)logger << "," << (int)eventBroker << "," << (int)sensors
- << "," << (int)radio << "," << (int)algorithms << "\n";
- }
-};
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Radio/Radio.cpp b/src/boards/Parafoil/Radio/Radio.cpp
new file mode 100644
index 000000000..f9547f122
--- /dev/null
+++ b/src/boards/Parafoil/Radio/Radio.cpp
@@ -0,0 +1,418 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Radio.h"
+
+#include <Parafoil/Actuators/Actuators.h>
+#include <Parafoil/BoardScheduler.h>
+#include <Parafoil/Buses.h>
+#include <Parafoil/Sensors/Sensors.h>
+#include <Parafoil/TMRepository/TMRepository.h>
+#include <drivers/interrupt/external_interrupts.h>
+#include <events/EventBroker.h>
+#include <radio/Xbee/ATCommands.h>
+
+#include <functional>
+
+using namespace std;
+using namespace miosix;
+using namespace placeholders;
+using namespace Boardcore;
+using namespace Parafoil::RadioConfig;
+
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+{
+ using namespace Parafoil;
+
+ if (Radio::getInstance().transceiver != nullptr)
+ Radio::getInstance().transceiver->handleDioIRQ();
+}
+
+namespace Parafoil
+{
+
+void Radio::handleMavlinkMessage(MavDriver* driver,
+ const mavlink_message_t& msg)
+{
+ switch (msg.msgid)
+ {
+ case MAVLINK_MSG_ID_PING_TC:
+ {
+ // Just send the ack at the end
+ break;
+ }
+ case MAVLINK_MSG_ID_COMMAND_TC:
+ {
+ return handleCommand(msg);
+ }
+ case MAVLINK_MSG_ID_SYSTEM_TM_REQUEST_TC:
+ {
+ SystemTMList tmId = static_cast<SystemTMList>(
+ mavlink_msg_system_tm_request_tc_get_tm_id(&msg));
+
+ // Send multiple packets for the TASK STATS telemetry
+ switch (tmId)
+ {
+ case SystemTMList::MAV_TASK_STATS_ID:
+ {
+ auto statsVector = BoardScheduler::getInstance()
+ .getScheduler()
+ .getTaskStats();
+ uint64_t timestamp = TimestampTimer::getTimestamp();
+
+ for (auto stats : statsVector)
+ {
+ mavlink_message_t msgToSend;
+ mavlink_task_stats_tm_t tm;
+
+ tm.timestamp = timestamp;
+ tm.task_id = stats.id;
+ tm.task_period = stats.period;
+ tm.task_min = stats.periodStats.minValue;
+ tm.task_max = stats.periodStats.maxValue;
+ tm.task_mean = stats.periodStats.mean;
+ tm.task_stddev = stats.periodStats.stdDev;
+
+ mavlink_msg_task_stats_tm_encode(
+ RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msgToSend, &tm);
+
+ mavDriver->enqueueMsg(msgToSend);
+ }
+
+ break;
+ }
+ case SystemTMList::MAV_SENSORS_STATE_ID:
+ {
+ for (auto sensor : Sensors::getInstance().getSensorsState())
+ {
+ mavlink_message_t msgToSend;
+ mavlink_sensor_state_tm_t tm;
+
+ sensor.first.copy(tm.sensor_id, sizeof(tm.sensor_id),
+ 0);
+ tm.state = sensor.second;
+
+ mavlink_msg_sensor_state_tm_encode(
+ RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msgToSend, &tm);
+
+ mavDriver->enqueueMsg(msgToSend);
+ }
+
+ break;
+ }
+ default:
+ {
+ sendSystemTm(tmId);
+ break;
+ }
+ }
+
+ LOG_DEBUG(logger, "Received system telemetry request, id: {}",
+ tmId);
+ break;
+ }
+ case MAVLINK_MSG_ID_SENSOR_TM_REQUEST_TC:
+ {
+ SystemTMList tmId = static_cast<SystemTMList>(
+ mavlink_msg_system_tm_request_tc_get_tm_id(&msg));
+ sendSystemTm(tmId);
+
+ LOG_DEBUG(logger, "Received system telemetry request, id: {}",
+ tmId);
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_SERVO_ANGLE_TC:
+ {
+ ServosList servoId = static_cast<ServosList>(
+ mavlink_msg_set_servo_angle_tc_get_servo_id(&msg));
+ float angle = mavlink_msg_set_servo_angle_tc_get_angle(&msg);
+
+ LOG_DEBUG(logger,
+ "Received set servo angle command, servoId: {} angle: {}",
+ servoId, angle);
+
+ // Move the servo, if failed send a nack
+ if (!Actuators::getInstance().setServoAngle(servoId, angle))
+ {
+ sendNack(msg);
+ return;
+ }
+
+ break;
+ }
+ case MAVLINK_MSG_ID_WIGGLE_SERVO_TC:
+ {
+ ServosList servoId = static_cast<ServosList>(
+ mavlink_msg_wiggle_servo_tc_get_servo_id(&msg));
+
+ LOG_DEBUG(logger, "Received wiggle servo command, servoId: {}",
+ servoId);
+
+ if (!Actuators::getInstance().wiggleServo(servoId))
+ sendNack(msg);
+
+ break;
+ }
+ case MAVLINK_MSG_ID_RESET_SERVO_TC:
+ {
+ ServosList servoId = static_cast<ServosList>(
+ mavlink_msg_reset_servo_tc_get_servo_id(&msg));
+
+ LOG_DEBUG(logger, "Received reset servo command, servoId: {}",
+ servoId);
+
+ if (!Actuators::getInstance().setServo(servoId, 0))
+ sendNack(msg);
+
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_REFERENCE_ALTITUDE_TC:
+ {
+ float altitude =
+ mavlink_msg_set_reference_altitude_tc_get_ref_altitude(&msg);
+
+ LOG_DEBUG(logger,
+ "Received set reference altitude command, altitude: {}",
+ altitude);
+
+ // TODO: Apply command
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_REFERENCE_TEMPERATURE_TC:
+ {
+ float temperature =
+ mavlink_msg_set_reference_temperature_tc_get_ref_temp(&msg);
+
+ LOG_DEBUG(
+ logger,
+ "Received set reference temperature command, temperature: {}",
+ temperature);
+
+ // TODO: Apply command
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_DEPLOYMENT_ALTITUDE_TC:
+ {
+ float altitude =
+ mavlink_msg_set_deployment_altitude_tc_get_dpl_altitude(&msg);
+
+ LOG_DEBUG(logger,
+ "Received set deployment altitude command, altitude: {}",
+ altitude);
+
+ // TODO: Apply command
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_INITIAL_ORIENTATION_TC:
+ {
+ float yaw = mavlink_msg_set_initial_orientation_tc_get_yaw(&msg);
+ float pitch =
+ mavlink_msg_set_initial_orientation_tc_get_pitch(&msg);
+ float roll = mavlink_msg_set_initial_orientation_tc_get_roll(&msg);
+
+ LOG_DEBUG(logger,
+ "Received set initial orientation command, yaw: {}, "
+ "pitch: {}, roll: {}",
+ yaw, pitch, roll);
+
+ // TODO: Apply command
+ break;
+ }
+ case MAVLINK_MSG_ID_SET_INITIAL_COORDINATES_TC:
+ {
+ float latitude =
+ mavlink_msg_set_initial_coordinates_tc_get_latitude(&msg);
+ float longitude =
+ mavlink_msg_set_initial_coordinates_tc_get_longitude(&msg);
+
+ LOG_DEBUG(logger,
+ "Received set initial coordinates command, latitude: {}, "
+ "longitude: {}",
+ latitude, longitude);
+
+ // TODO: Apply command
+ break;
+ }
+ case MAVLINK_MSG_ID_RAW_EVENT_TC:
+ {
+ uint8_t topicId = mavlink_msg_raw_event_tc_get_topic_id(&msg);
+ uint8_t eventId = mavlink_msg_raw_event_tc_get_event_id(&msg);
+
+ LOG_DEBUG(logger,
+ "Received raw event command, topicId: {}, eventId{}",
+ topicId, eventId);
+
+ EventBroker::getInstance().post(topicId, eventId);
+ break;
+ }
+
+ default:
+ {
+ LOG_DEBUG(logger, "Received message is not of a known type");
+
+ sendNack(msg);
+ return;
+ }
+ }
+
+ // Acknowledge the message
+ sendAck(msg);
+}
+
+void Radio::handleCommand(const mavlink_message_t& msg)
+{
+ MavCommandList commandId = static_cast<MavCommandList>(
+ mavlink_msg_command_tc_get_command_id(&msg));
+
+ switch (commandId)
+ {
+ case MAV_CMD_ARM:
+ LOG_DEBUG(logger, "Received command arm");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_DISARM:
+ LOG_DEBUG(logger, "Received command disarm");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_FORCE_LAUNCH:
+ LOG_DEBUG(logger, "Received command force launch");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_FORCE_LANDING:
+ LOG_DEBUG(logger, "Received command force landing");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_FORCE_EXPULSION:
+ LOG_DEBUG(logger, "Received command force expulsion");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_FORCE_MAIN:
+ LOG_DEBUG(logger, "Received command force main");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_START_LOGGING:
+ LOG_DEBUG(logger, "Received command start logging");
+ Logger::getInstance().start();
+ break;
+ case MAV_CMD_CLOSE_LOG:
+ LOG_DEBUG(logger, "Received command close log");
+ Logger::getInstance().stop();
+ break;
+ case MAV_CMD_FORCE_REBOOT:
+ reboot();
+ break;
+ case MAV_CMD_TEST_MODE:
+ LOG_DEBUG(logger, "Received command test mode");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_START_RECORDING:
+ LOG_DEBUG(logger, "Received command start recording");
+
+ // TODO: Apply command
+ break;
+ case MAV_CMD_STOP_RECORDING:
+ LOG_DEBUG(logger, "Received command stop recording");
+
+ // TODO: Apply command
+ break;
+
+ default:
+ return sendNack(msg);
+ }
+
+ // Acknowledge the message
+ sendAck(msg);
+}
+
+void Radio::sendAck(const mavlink_message_t& msg)
+{
+ mavlink_message_t ackMsg;
+ mavlink_msg_ack_tm_pack(MAV_SYSTEM_ID, MAV_COMPONENT_ID, &ackMsg, msg.msgid,
+ msg.seq);
+ mavDriver->enqueueMsg(ackMsg);
+}
+
+void Radio::sendNack(const mavlink_message_t& msg)
+{
+ mavlink_message_t nackMsg;
+ LOG_DEBUG(logger, "Sending NACK for message {}", msg.msgid);
+ mavlink_msg_nack_tm_pack(MAV_SYSTEM_ID, MAV_COMPONENT_ID, &nackMsg,
+ msg.msgid, msg.seq);
+ mavDriver->enqueueMsg(nackMsg);
+}
+
+bool Radio::start() { return mavDriver->start(); }
+
+bool Radio::isStarted() { return mavDriver->isStarted(); }
+
+Boardcore::MavlinkStatus Radio::getMavlinkStatus()
+{
+ return mavDriver->getStatus();
+}
+
+void Radio::logStatus()
+{
+ Logger::getInstance().log(mavDriver->getStatus());
+ // TODO: Add transceiver status logging
+}
+
+bool Radio::sendSystemTm(const SystemTMList tmId)
+{
+ bool result =
+ mavDriver->enqueueMsg(TMRepository::getInstance().packSystemTm(tmId));
+ return result;
+}
+
+bool Radio::sendSensorsTm(const SensorsTMList tmId)
+{
+ bool result =
+ mavDriver->enqueueMsg(TMRepository::getInstance().packSensorsTm(tmId));
+ return result;
+}
+
+Radio::Radio()
+{
+ transceiver = new SX1278(Buses::getInstance().spi4, sx1278::cs::getPin());
+
+ mavDriver = new MavDriver(transceiver,
+ bind(&Radio::handleMavlinkMessage, this, _1, _2),
+ 0, MAV_OUT_BUFFER_MAX_AGE);
+
+ // Add to the scheduler the flight and statistics telemetries
+ BoardScheduler::getInstance().getScheduler().addTask(
+ [&]() { sendSystemTm(MAV_FLIGHT_ID); }, FLIGHT_TM_PERIOD,
+ FLIGHT_TM_TASK_ID);
+ BoardScheduler::getInstance().getScheduler().addTask(
+ [&]() { sendSystemTm(MAV_STATS_ID); }, STATS_TM_PERIOD,
+ STATS_TM_TASK_ID);
+}
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Radio/Radio.h b/src/boards/Parafoil/Radio/Radio.h
new file mode 100644
index 000000000..185e6c8b7
--- /dev/null
+++ b/src/boards/Parafoil/Radio/Radio.h
@@ -0,0 +1,103 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Parafoil/Configs/RadioConfig.h>
+#include <common/Mavlink.h>
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <radio/SX1278/SX1278.h>
+#include <scheduler/TaskScheduler.h>
+
+namespace Parafoil
+{
+
+using MavDriver = Boardcore::MavlinkDriver<RadioConfig::RADIO_PKT_LENGTH,
+ RadioConfig::RADIO_OUT_QUEUE_SIZE,
+ RadioConfig::RADIO_MAV_MSG_LENGTH>;
+
+class Radio : public Boardcore::Singleton<Radio>
+{
+ friend class Boardcore::Singleton<Radio>;
+
+public:
+ Boardcore::SX1278* transceiver;
+ MavDriver* mavDriver;
+
+ /**
+ * @brief Called by the MavlinkDriver when a message is received.
+ */
+ void handleMavlinkMessage(MavDriver* driver, const mavlink_message_t& msg);
+
+ /**
+ * @brief Called by handleMavlinkMessage to handle a command message.
+ */
+ void handleCommand(const mavlink_message_t& msg);
+
+ /**
+ * @brief Prepares and send an ack message for the given message.
+ *
+ * @param msg The message received that we need to acknowledge.
+ */
+ void sendAck(const mavlink_message_t& msg);
+
+ /**
+ * @brief Prepares and send a nack message for the given message.
+ *
+ * @param msg The message received that we need to not acknowledge.
+ */
+ void sendNack(const mavlink_message_t& msg);
+
+ /**
+ * @brief Starts the MavlinkDriver.
+ */
+ bool start();
+
+ /**
+ * @brief Tells whether the radio was started.
+ */
+ bool isStarted();
+
+ Boardcore::MavlinkStatus getMavlinkStatus();
+
+ /**
+ * @brief Saves the MavlinkDriver and transceiver status.
+ */
+ void logStatus();
+
+ /**
+ * @brief Used to send the specified system telemetry message.
+ */
+ bool sendSystemTm(const SystemTMList tmId);
+
+ /**
+ * @brief Used to send the specified sensors telemetry message.
+ */
+ bool sendSensorsTm(const SensorsTMList tmId);
+
+private:
+ Radio();
+
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("radio");
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Sensors/Sensors.cpp b/src/boards/Parafoil/Sensors/Sensors.cpp
new file mode 100644
index 000000000..41ee886bc
--- /dev/null
+++ b/src/boards/Parafoil/Sensors/Sensors.cpp
@@ -0,0 +1,246 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * 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 "Sensors.h"
+
+#include <Parafoil/Buses.h>
+#include <Parafoil/Configs/SensorsConfig.h>
+#include <Parafoil/Configs/WingConfig.h>
+#include <Parafoil/Wing/WingController.h>
+#include <sensors/SensorInfo.h>
+#include <utils/AeroUtils/AeroUtils.h>
+
+#include <functional>
+
+using namespace std;
+using namespace miosix;
+using namespace Boardcore;
+using namespace Parafoil::SensorsConfig;
+using namespace Parafoil::WingConfig;
+
+namespace Parafoil
+{
+
+bool Sensors::start() { return sensorManager->start(); }
+
+bool Sensors::isStarted() { return sensorManager->areAllSensorsInitialized(); }
+
+MPU9250Data Sensors::getMpu9250LastSample()
+{
+ miosix::PauseKernelLock lock;
+ return mpu9250->getLastSample();
+}
+
+UBXGPSData Sensors::getUbxGpsLastSample()
+{
+ miosix::PauseKernelLock lock;
+ return ubxGps->getLastSample();
+}
+
+BME280Data Sensors::getBme280LastSample()
+{
+ miosix::PauseKernelLock lock;
+ return bme280->getLastSample();
+}
+
+void Sensors::calibrate()
+{
+ miosix::PauseKernelLock kLock;
+ this->needsCalibration = true;
+}
+
+std::map<string, bool> Sensors::getSensorsState()
+{
+ std::map<string, bool> sensorsState;
+
+ for (auto sensor : sensorsMap)
+ sensorsState[sensor.second.id] =
+ sensorManager->getSensorInfo(sensor.first).isInitialized;
+
+ return sensorsState;
+}
+
+Sensors::Sensors()
+{
+ // Initialize all the sensors
+ mpu9250init();
+ miosix::Thread::sleep(200);
+ ubxGpsInit();
+ miosix::Thread::sleep(200);
+ bme280init();
+ miosix::Thread::sleep(200);
+
+ // Create the sensor manager
+ sensorManager = new SensorManager(sensorsMap);
+}
+
+Sensors::~Sensors()
+{
+ delete mpu9250;
+ delete ubxGps;
+ delete bme280;
+
+ sensorManager->stop();
+ delete sensorManager;
+}
+
+void Sensors::mpu9250init()
+{
+ SPIBusConfig spiConfig{};
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_64;
+ spiConfig.mode = SPI::Mode::MODE_3;
+
+ mpu9250 =
+ new MPU9250(Buses::getInstance().spi1, sensors::mpu9250::cs::getPin(),
+ spiConfig, IMU_SAMPLE_RATE, IMU_GYRO_SCALE, IMU_ACCEL_SCALE,
+ SPI::ClockDivider::DIV_16);
+
+ SensorInfo info(
+ "MPU9250", IMU_SAMPLE_PERIOD,
+ [&]() { Logger::getInstance().log(mpu9250->getLastSample()); }, true);
+
+ sensorsMap.emplace(std::make_pair(mpu9250, info));
+
+ LOG_INFO(logger, "IMU MPU9250 Setup done!");
+}
+
+void Sensors::ubxGpsInit()
+{
+ ubxGps = new UBXGPSSerial(256000, GPS_SAMPLE_RATE, 2, "gps", 9600);
+
+ SensorInfo info(
+ "UbloxGPS", GPS_SAMPLE_PERIOD,
+ [&]() { Logger::getInstance().log(ubxGps->getLastSample()); }, true);
+
+ sensorsMap.emplace(std::make_pair(ubxGps, info));
+
+ LOG_INFO(logger, "Ubx GPS Setup done!");
+}
+
+void Sensors::bme280init()
+{
+ // I first create a SPI slave needed to instantiate the sensor
+ SPISlave slave(Buses::getInstance().spi1, sensors::bme280::cs::getPin(),
+ SPIBusConfig{});
+
+ slave.config.clockDivider = SPI::ClockDivider::DIV_16;
+ slave.config.mode = SPI::Mode::MODE_0;
+
+ auto config = BME280::BME280_CONFIG_ALL_ENABLED;
+ config.bits.oversamplingPressure = BME280::OVERSAMPLING_4;
+
+ // Instantiate the object
+ bme280 = new BME280(slave, config);
+
+ // Set the standby time
+ bme280->setStandbyTime(PRESS_SAMPLE_RATE);
+
+ // Bind the information with the callback method
+ SensorInfo info("BME280", PRESS_SAMPLE_PERIOD,
+ bind(&Sensors::bme280Callback, this), true);
+ sensorsMap.emplace(std::make_pair(bme280, info));
+
+ LOG_INFO(logger, "BME280 Setup done!");
+}
+
+void Sensors::bme280Callback()
+{
+ auto data = bme280->getLastSample();
+ Logger::getInstance().log(data);
+
+ // Logic for wing procedure start and flare
+ static uint8_t count = 0;
+ static Boardcore::Stats pressureMean{};
+ static Boardcore::Stats temperatureMean{};
+
+ // If we reach the needed samples
+ if (count == WING_PRESSURE_MEAN_COUNT)
+ {
+ static bool procedureArm = false;
+ static bool flareArm = false;
+
+ // In case of calibration needed i calibrate
+ if (needsCalibration)
+ {
+ WING_CALIBRATION_PRESSURE = pressureMean.getStats().mean;
+ WING_CALIBRATION_TEMPERATURE =
+ temperatureMean.getStats().mean + 273.15;
+
+ // Reset the mean values
+ count = 0;
+ pressureMean.reset();
+ temperatureMean.reset();
+
+ // Set calibrated status
+ needsCalibration = false;
+
+ // I don't want to calculate stuff
+ return;
+ }
+
+ // Calculate the height
+ float height = Aeroutils::relAltitude(pressureMean.getStats().mean,
+ WING_CALIBRATION_PRESSURE,
+ WING_CALIBRATION_TEMPERATURE);
+
+ // Update the radio repository
+ data.pressure = pressureMean.getStats().mean;
+ data.temperature = temperatureMean.getStats().mean;
+
+ // Decide what the wing should do
+ if (height > WING_ALGORITHM_ARM_ALTITUDE && !procedureArm)
+ procedureArm = true;
+
+ if (height < WING_ALGORITHM_START_ALTITUDE && procedureArm)
+ {
+ // Disarm the starting command
+ procedureArm = false;
+
+ // Arm the flare command
+ flareArm = true;
+
+ // Start the algorithm
+ WingController::getInstance().start();
+ }
+
+ if (height < WING_FLARE_ALTITUDE && flareArm)
+ {
+ // Disarm the starting command
+ flareArm = false;
+
+ // Flare
+ WingController::getInstance().flare();
+ }
+
+ // Reset the mean values
+ count = 0;
+ pressureMean.reset();
+ temperatureMean.reset();
+ }
+
+ // Add the current value to the mean and increase the counting
+ pressureMean.add(data.pressure);
+ temperatureMean.add(data.temperature);
+ count++;
+}
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Control/Algorithms.h b/src/boards/Parafoil/Sensors/Sensors.h
similarity index 57%
rename from src/boards/Parafoil/Control/Algorithms.h
rename to src/boards/Parafoil/Sensors/Sensors.h
index c09fec1cc..b8816aea8 100644
--- a/src/boards/Parafoil/Control/Algorithms.h
+++ b/src/boards/Parafoil/Sensors/Sensors.h
@@ -19,53 +19,58 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
-#include <Parafoil/Control/NASController.h>
-#include <diagnostic/PrintLogger.h>
-#include <scheduler/TaskScheduler.h>
-#include <sensors/MPU9250/MPU9250Data.h>
-#include <sensors/UBXGPS/UBXGPSData.h>
+#include <sensors/BME280/BME280.h>
+#include <sensors/MPU9250/MPU9250.h>
+#include <sensors/SensorManager.h>
+#include <sensors/UBXGPS/UBXGPSSerial.h>
namespace Parafoil
{
-class Algorithms
+
+class Sensors : public Boardcore::Singleton<Sensors>
{
+ friend class Boardcore::Singleton<Sensors>;
+
public:
- // All the algorithms that need to be started
- NASController* nas;
-
- // The scheduler
- Boardcore::TaskScheduler* scheduler;
-
- /**
- * @brief Construct a new Algorithms object
- *
- * @param scheduler The algorithms task scheduler
- */
- Algorithms(Boardcore::TaskScheduler* scheduler);
-
- /**
- * @brief Destroy the Algorithms object
- */
- ~Algorithms();
-
- /**
- * @brief Method to start the algorithms task scheduler
- */
bool start();
- // Kernel locked getters
- Boardcore::NASState getNASLastSample();
+ bool isStarted();
+
+ Boardcore::MPU9250Data getMpu9250LastSample();
+ Boardcore::UBXGPSData getUbxGpsLastSample();
+ Boardcore::BME280Data getBme280LastSample();
+
+ void calibrate();
+
+ std::map<string, bool> getSensorsState();
private:
- // Debug serial logger
- Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("algorithms");
+ Sensors();
+
+ ~Sensors();
- // SD logger
- Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
+ void mpu9250init();
- // Init functions
- void NASInit();
+ void ubxGpsInit();
+ void ubxGpsCallback();
+
+ void bme280init();
+ void bme280Callback();
+
+ Boardcore::MPU9250* mpu9250;
+ Boardcore::UBXGPSSerial* ubxGps;
+ Boardcore::BME280* bme280;
+
+ bool needsCalibration = false;
+
+ Boardcore::SensorManager* sensorManager = nullptr;
+
+ Boardcore::SensorManager::SensorMap_t sensorsMap;
+
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
};
-} // namespace Parafoil
\ No newline at end of file
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/TMRepository/TMRepository.cpp b/src/boards/Parafoil/TMRepository/TMRepository.cpp
new file mode 100644
index 000000000..f78f2820d
--- /dev/null
+++ b/src/boards/Parafoil/TMRepository/TMRepository.cpp
@@ -0,0 +1,362 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * 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 "TMRepository.h"
+
+#include <Parafoil/BoardScheduler.h>
+#include <Parafoil/NASController/NASController.h>
+#include <Parafoil/Radio/Radio.h>
+#include <Parafoil/Sensors/Sensors.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
+#include <events/EventBroker.h>
+#include <utils/SkyQuaternion/SkyQuaternion.h>
+
+#include <Eigen/Core>
+
+using namespace Boardcore;
+using namespace Eigen;
+
+namespace Parafoil
+{
+
+mavlink_message_t TMRepository::packSystemTm(SystemTMList reqTm)
+{
+ mavlink_message_t msg;
+
+ miosix::PauseKernelLock kLock;
+
+ switch (reqTm)
+ {
+ case SystemTMList::MAV_SYS_ID:
+ {
+ mavlink_sys_tm_t tm;
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+ tm.logger = Logger::getInstance().isStarted();
+ tm.event_broker = EventBroker::getInstance().isRunning();
+ tm.radio = Radio::getInstance().isStarted();
+ tm.pin_observer = 0;
+ tm.sensors = Sensors::getInstance().isStarted();
+ tm.board_scheduler =
+ BoardScheduler::getInstance().getScheduler().isRunning();
+
+ mavlink_msg_sys_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg, &tm);
+
+ break;
+ }
+ case SystemTMList::MAV_LOGGER_ID:
+ {
+ mavlink_logger_tm_t tm;
+
+ auto stats = Logger::getInstance().getStats();
+
+ tm.timestamp = stats.timestamp;
+ tm.log_number = stats.logNumber;
+ tm.too_large_samples = stats.tooLargeSamples;
+ tm.dropped_samples = stats.droppedSamples;
+ tm.queued_samples = stats.queuedSamples;
+ tm.buffers_filled = stats.buffersFilled;
+ tm.buffers_written = stats.buffersWritten;
+ tm.writes_failed = stats.writesFailed;
+ tm.last_write_error = stats.lastWriteError;
+ tm.average_write_time = stats.averageWriteTime;
+ tm.max_write_time = stats.maxWriteTime;
+
+ mavlink_msg_logger_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg,
+ &tm);
+ break;
+ }
+ case SystemTMList::MAV_MAVLINK_STATS:
+ {
+ mavlink_mavlink_stats_tm_t tm;
+
+ auto stats = Radio::getInstance().getMavlinkStatus();
+
+ tm.timestamp = stats.timestamp;
+ tm.n_send_queue = stats.nSendQueue;
+ tm.max_send_queue = stats.maxSendQueue;
+ tm.n_send_errors = stats.nSendErrors;
+ tm.msg_received = stats.mavStats.msg_received;
+ tm.buffer_overrun = stats.mavStats.buffer_overrun;
+ tm.parse_error = stats.mavStats.parse_error;
+ tm.parse_state = stats.mavStats.parse_state;
+ tm.packet_idx = stats.mavStats.packet_idx;
+ tm.current_rx_seq = stats.mavStats.current_rx_seq;
+ tm.current_tx_seq = stats.mavStats.current_tx_seq;
+ tm.packet_rx_success_count = stats.mavStats.packet_rx_success_count;
+ tm.packet_rx_drop_count = stats.mavStats.packet_rx_drop_count;
+
+ mavlink_msg_mavlink_stats_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID,
+ &msg, &tm);
+ break;
+ }
+ case SystemTMList::MAV_NAS_ID:
+ {
+ mavlink_nas_tm_t tm;
+
+ auto state = NASController::getInstance().getNasState();
+ auto ref = NASController::getInstance().getReferenceValues();
+
+ tm.timestamp = state.timestamp;
+ tm.state = 0;
+ tm.nas_n = state.n;
+ tm.nas_e = state.e;
+ tm.nas_d = state.d;
+ tm.nas_vn = state.vn;
+ tm.nas_ve = state.ve;
+ tm.nas_vd = state.vd;
+ tm.nas_qw = state.qw;
+ tm.nas_qx = state.qx;
+ tm.nas_qy = state.qy;
+ tm.nas_qz = state.qz;
+ tm.nas_bias_x = state.bx;
+ tm.nas_bias_y = state.by;
+ tm.nas_bias_z = state.bz;
+ tm.ref_pressure = ref.pressure;
+ tm.ref_temperature = ref.temperature;
+ tm.ref_latitude = ref.startLatitude;
+ tm.ref_longitude = ref.startLongitude;
+
+ mavlink_msg_nas_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg, &tm);
+
+ break;
+ }
+ case SystemTMList::MAV_FLIGHT_ID:
+ {
+ mavlink_payload_flight_tm_t tm;
+ Sensors &sensors = Sensors::getInstance();
+
+ auto &nas = NASController::getInstance();
+
+ auto bme280Data = sensors.getBme280LastSample();
+ auto imuData = sensors.getMpu9250LastSample();
+
+ auto nasState = NASController::getInstance().getNasState();
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+
+ // State machines states
+ tm.ada_state = 0;
+ tm.fmm_state = 0;
+ tm.nas_state = 0;
+
+ // Pressures
+ tm.pressure_ada = 0;
+ tm.pressure_digi = bme280Data.pressure;
+ tm.pressure_static = 0;
+ tm.pressure_dpl = 0;
+ tm.airspeed_pitot = 0; // TODO: Implement
+
+ // ADA estimation
+ tm.msl_altitude = 0;
+ tm.ada_vert_speed = 0;
+ tm.ada_vert_accel = 0;
+
+ // IMU
+ tm.acc_x = imuData.accelerationX;
+ tm.acc_y = imuData.accelerationY;
+ tm.acc_z = imuData.accelerationZ;
+ tm.gyro_x = imuData.angularVelocityX;
+ tm.gyro_y = imuData.angularVelocityY;
+ tm.gyro_z = imuData.angularVelocityZ;
+ tm.mag_x = imuData.magneticFieldX;
+ tm.mag_y = imuData.magneticFieldY;
+ tm.mag_z = imuData.magneticFieldZ;
+
+ // GPS
+ tm.gps_fix = 0;
+ tm.gps_lat = 0;
+ tm.gps_lon = 0;
+ tm.gps_alt = 0;
+
+ // NAS
+ tm.nas_n = nasState.n;
+ tm.nas_e = nasState.e;
+ tm.nas_d = nasState.d;
+ tm.nas_vn = nasState.vn;
+ tm.nas_ve = nasState.ve;
+ tm.nas_vd = nasState.vd;
+ tm.nas_qx = nasState.qx;
+ tm.nas_qy = nasState.qy;
+ tm.nas_qz = nasState.qz;
+ tm.nas_qw = nasState.qw;
+ tm.nas_bias_x = nasState.bx;
+ tm.nas_bias_y = nasState.by;
+ tm.nas_bias_z = nasState.bz;
+
+ // Sensing pins statuses
+ tm.pin_nosecone = 0;
+
+ // Board status
+ tm.vbat = 0; // = sensors.getBatteryVoltageLastSample().batVoltage;
+ tm.vsupply_5v = 0;
+ tm.temperature = bme280Data.temperature;
+ tm.logger_error = Logger::getInstance().getStats().lastWriteError;
+
+ mavlink_msg_payload_flight_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID,
+ &msg, &tm);
+ break;
+ }
+ case SystemTMList::MAV_STATS_ID:
+ {
+ mavlink_rocket_stats_tm_t tm;
+
+ tm.liftoff_ts = 0;
+ tm.liftoff_max_acc_ts = 0;
+ tm.liftoff_max_acc = 0;
+ tm.max_z_speed_ts = 0;
+ tm.max_z_speed = 0;
+ tm.max_airspeed_pitot = 0;
+ tm.max_speed_altitude = 0;
+ tm.apogee_ts = 0;
+ tm.apogee_lat = 0;
+ tm.apogee_lon = 0;
+ tm.static_min_pressure = 0;
+ tm.digital_min_pressure = 0;
+ tm.ada_min_pressure = 0;
+ tm.baro_max_altitude = 0;
+ tm.gps_max_altitude = 0;
+ tm.drogue_dpl_ts = 0;
+ tm.drogue_dpl_max_acc = 0;
+ tm.dpl_vane_max_pressure = 0;
+ tm.main_dpl_altitude_ts = 0;
+ tm.main_dpl_altitude = 0;
+ tm.main_dpl_zspeed = 0;
+ tm.main_dpl_acc = 0;
+ tm.cpu_load = CpuMeter::getCpuStats().mean;
+
+ mavlink_msg_rocket_stats_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID,
+ &msg, &tm);
+ break;
+ }
+
+ default:
+ {
+ mavlink_nack_tm_t nack;
+
+ nack.recv_msgid = 0;
+ nack.seq_ack = 0;
+
+ LOG_DEBUG(logger, "Unknown telemetry id: {}", reqTm);
+ mavlink_msg_nack_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg,
+ &nack);
+ break;
+ }
+ }
+
+ return msg;
+}
+
+mavlink_message_t TMRepository::packSensorsTm(SensorsTMList reqTm)
+{
+ mavlink_message_t msg;
+
+ switch (reqTm)
+ {
+ case SensorsTMList::MAV_GPS_ID:
+ {
+ mavlink_gps_tm_t tm;
+
+ auto gpsData = Sensors::getInstance().getUbxGpsLastSample();
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+ strcpy(tm.sensor_id, "UbloxGPS");
+ tm.fix = gpsData.fix;
+ tm.latitude = gpsData.latitude;
+ tm.longitude = gpsData.longitude;
+ tm.height = gpsData.height;
+ tm.vel_north = gpsData.velocityNorth;
+ tm.vel_east = gpsData.velocityEast;
+ tm.vel_down = gpsData.velocityDown;
+ tm.speed = gpsData.speed;
+ tm.track = gpsData.track;
+ tm.n_satellites = gpsData.satellites;
+
+ mavlink_msg_gps_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg, &tm);
+ break;
+ }
+ case SensorsTMList::MAV_MPU9250_ID:
+ {
+ mavlink_imu_tm_t tm;
+
+ MPU9250Data imuData = Sensors::getInstance().getMpu9250LastSample();
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+ strcpy(tm.sensor_id, "MPU9250");
+ tm.acc_x = imuData.accelerationX;
+ tm.acc_y = imuData.accelerationY;
+ tm.acc_z = imuData.accelerationZ;
+ tm.gyro_x = imuData.angularVelocityX;
+ tm.gyro_y = imuData.angularVelocityY;
+ tm.gyro_z = imuData.angularVelocityZ;
+ tm.mag_x = imuData.magneticFieldX;
+ tm.mag_y = imuData.magneticFieldY;
+ tm.mag_z = imuData.magneticFieldZ;
+
+ // Encode the message
+ mavlink_msg_imu_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg, &tm);
+ break;
+ }
+ case SensorsTMList::MAV_BME280_ID:
+ {
+ mavlink_baro_tm_t tm;
+
+ BME280Data baro = Sensors::getInstance().getBme280LastSample();
+
+ tm.timestamp = miosix::getTick();
+ strcpy(tm.sensor_id, "BME280");
+ tm.pressure = baro.pressure;
+
+ mavlink_msg_baro_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg,
+ &tm);
+ break;
+ }
+
+ default:
+ {
+ mavlink_nack_tm_t nack;
+
+ nack.recv_msgid = 0;
+ nack.seq_ack = 0;
+
+ LOG_DEBUG(logger, "Unknown telemetry id: {}", reqTm);
+ mavlink_msg_nack_tm_encode(RadioConfig::MAV_SYSTEM_ID,
+ RadioConfig::MAV_COMPONENT_ID, &msg,
+ &nack);
+ break;
+ }
+ }
+
+ return msg;
+}
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/TMRepository/TMRepository.h b/src/boards/Parafoil/TMRepository/TMRepository.h
new file mode 100644
index 000000000..788c50d24
--- /dev/null
+++ b/src/boards/Parafoil/TMRepository/TMRepository.h
@@ -0,0 +1,70 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * 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 <Singleton.h>
+#include <common/Mavlink.h>
+#include <diagnostic/PrintLogger.h>
+#include <sensors/BME280/BME280Data.h>
+#include <sensors/MPU9250/MPU9250Data.h>
+
+/**
+ * @brief This class represents the collection of data that can be sent via
+ * radio communication. This refers to mavlink libraries and structures created
+ * in the correct .xml file.
+ *
+ * It is necessary that this singleton class handles the structure update
+ * (when a message pack is requested).
+ * The pack method is the core of the class. It returns a mavlink_message
+ * with the message data(specified with the id) requested.
+ */
+
+namespace Parafoil
+{
+
+class TMRepository : public Boardcore::Singleton<TMRepository>
+{
+ friend class Boardcore::Singleton<TMRepository>;
+
+public:
+ /**
+ * @brief Retrieve a system telemetry message in packed form.
+ *
+ * @param reqTm Required telemetry.
+ * @return Packed mavlink telemetry or a nack.
+ */
+ mavlink_message_t packSystemTm(SystemTMList reqTm);
+
+ /**
+ * @brief Retrieve a sensor telemetry message in packed form.
+ *
+ * @param reqTm Required telemetry.
+ * @return Packed mavlink telemetry or a nack.
+ */
+ mavlink_message_t packSensorsTm(SensorsTMList reqTm);
+
+private:
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("tmrepo");
+};
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
deleted file mode 100644
index 8a6caa55f..000000000
--- a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.cpp
+++ /dev/null
@@ -1,231 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/ParafoilTest.h>
-#include <Parafoil/TelemetriesTelecommands/TMRepository.h>
-#include <utils/SkyQuaternion/SkyQuaternion.h>
-
-#include <Eigen/Core>
-
-using namespace Boardcore;
-using namespace Eigen;
-
-namespace Parafoil
-{
-
-mavlink_message_t TMRepository::packSystemTM(uint8_t req_tm, uint8_t sys_id,
- uint8_t comp_id)
-{
- mavlink_message_t m;
- mavlink_nack_tm_t nack;
-
- miosix::PauseKernelLock kLock;
-
- switch (req_tm)
- {
- case SystemTMList::MAV_LOGGER_ID:
- {
- tmRepository.loggerTm.timestamp = miosix::getTick();
-
- // Get the logger stats
- Boardcore::LoggerStats stats =
- ParafoilTest::getInstance().SDlogger->getStats();
-
- // First i update the loggerTm
- tmRepository.loggerTm.log_number =
- ParafoilTest::getInstance().SDlogger->getCurrentLogNumber();
-
- tmRepository.loggerTm.buffers_filled = stats.buffersFilled;
- tmRepository.loggerTm.buffers_written = stats.buffersWritten;
- tmRepository.loggerTm.dropped_samples = stats.droppedSamples;
- tmRepository.loggerTm.max_write_time = stats.maxWriteTime;
- tmRepository.loggerTm.queued_samples = stats.queuedSamples;
- tmRepository.loggerTm.too_large_samples = stats.tooLargeSamples;
- tmRepository.loggerTm.writes_failed = stats.writesFailed;
- tmRepository.loggerTm.max_write_time = stats.maxWriteTime;
- tmRepository.loggerTm.last_write_error = stats.lastWriteError;
-
- mavlink_msg_logger_tm_encode(sys_id, comp_id, &m,
- &(tmRepository.loggerTm));
- break;
- }
- case SystemTMList::MAV_FLIGHT_ID:
- {
- // I have to send the whole flight tm
- tmRepository.flightTm.timestamp = miosix::getTick();
-
- // Get the pressure
- tmRepository.flightTm.pressure_digi =
- ParafoilTest::getInstance()
- .sensors->getBME280LastSample()
- .pressure;
-
- // Get the IMU data
- MPU9250Data imu =
- ParafoilTest::getInstance().sensors->getMPU9250LastSample();
-
- tmRepository.flightTm.acc_x = imu.accelerationX;
- tmRepository.flightTm.acc_y = imu.accelerationY;
- tmRepository.flightTm.acc_z = imu.accelerationZ;
- tmRepository.flightTm.gyro_x = imu.angularVelocityX;
- tmRepository.flightTm.gyro_y = imu.angularVelocityY;
- tmRepository.flightTm.gyro_z = imu.angularVelocityZ;
- tmRepository.flightTm.mag_x = imu.magneticFieldX;
- tmRepository.flightTm.mag_y = imu.magneticFieldY;
- tmRepository.flightTm.mag_z = imu.magneticFieldZ;
-
- // Get the GPS data
- UBXGPSData gps =
- ParafoilTest::getInstance().sensors->getGPSLastSample();
-
- tmRepository.flightTm.gps_fix = gps.fix;
- tmRepository.flightTm.gps_lat = gps.latitude;
- tmRepository.flightTm.gps_lon = gps.longitude;
- tmRepository.flightTm.gps_alt = gps.height;
-
- // Get the NAS data
- NASState state =
- ParafoilTest::getInstance().algorithms->getNASLastSample();
-
- tmRepository.flightTm.nas_n = state.n;
- tmRepository.flightTm.nas_e = state.e;
- tmRepository.flightTm.nas_d = state.d;
- tmRepository.flightTm.nas_vn = state.vn;
- tmRepository.flightTm.nas_ve = state.ve;
- tmRepository.flightTm.nas_vd = state.vd;
-
- tmRepository.flightTm.nas_qx = state.qx;
- tmRepository.flightTm.nas_qy = state.qy;
- tmRepository.flightTm.nas_qz = state.qz;
- tmRepository.flightTm.nas_qw = state.qw;
-
- tmRepository.flightTm.nas_bias_x = state.bx;
- tmRepository.flightTm.nas_bias_y = state.by;
- tmRepository.flightTm.nas_bias_z = state.bz;
-
- mavlink_msg_payload_flight_tm_encode(sys_id, comp_id, &m,
- &(tmRepository.flightTm));
-
- break;
- }
- default:
- {
- LOG_DEBUG(logger, "Unknown telemetry id: {:d}", req_tm);
- nack.recv_msgid = 0;
- nack.seq_ack = 0;
- mavlink_msg_nack_tm_encode(sys_id, comp_id, &m, &nack);
- break;
- }
- }
- return m;
-}
-
-mavlink_message_t TMRepository::packSensorTM(uint8_t req_tm, uint8_t sys_id,
- uint8_t comp_id)
-{
- mavlink_message_t m;
- mavlink_nack_tm_t nack;
-
- // The kernel lock is not necessary because the sensors getters already do
- // that
-
- switch (req_tm)
- {
- case SensorsTMList::MAV_GPS_ID:
- {
- // Get with lock the gps data
- UBXGPSData gps =
- ParafoilTest::getInstance().sensors->getGPSLastSample();
-
- // Update the repository
- tmRepository.gpsTm.timestamp = miosix::getTick();
- strcpy(tmRepository.gpsTm.sensor_id, "UbloxGPS\0");
- tmRepository.gpsTm.fix = gps.fix;
- tmRepository.gpsTm.latitude = gps.latitude;
- tmRepository.gpsTm.longitude = gps.longitude;
- tmRepository.gpsTm.height = gps.height;
- tmRepository.gpsTm.vel_north = gps.velocityNorth;
- tmRepository.gpsTm.vel_east = gps.velocityEast;
- tmRepository.gpsTm.vel_down = gps.velocityDown;
- tmRepository.gpsTm.speed = gps.speed;
- tmRepository.gpsTm.track = gps.track;
- tmRepository.gpsTm.n_satellites = gps.satellites;
-
- // Encode the message
- mavlink_msg_gps_tm_encode(sys_id, comp_id, &m,
- &(tmRepository.gpsTm));
- break;
- }
- case SensorsTMList::MAV_MPU9250_ID:
- {
- // Get with lock the imu data
- MPU9250Data imu =
- ParafoilTest::getInstance().sensors->getMPU9250LastSample();
-
- // Update the repository
- tmRepository.imuTm.timestamp = miosix::getTick();
- strcpy(tmRepository.imuTm.sensor_id, "MPU9250\0");
- tmRepository.imuTm.acc_x = imu.accelerationX;
- tmRepository.imuTm.acc_y = imu.accelerationY;
- tmRepository.imuTm.acc_z = imu.accelerationZ;
- tmRepository.imuTm.gyro_x = imu.angularVelocityX;
- tmRepository.imuTm.gyro_y = imu.angularVelocityY;
- tmRepository.imuTm.gyro_z = imu.angularVelocityZ;
- tmRepository.imuTm.mag_x = imu.magneticFieldX;
- tmRepository.imuTm.mag_y = imu.magneticFieldY;
- tmRepository.imuTm.mag_z = imu.magneticFieldZ;
-
- // Encode the message
- mavlink_msg_imu_tm_encode(sys_id, comp_id, &m,
- &(tmRepository.imuTm));
- break;
- }
- case SensorsTMList::MAV_BME280_ID:
- {
- // Get with lock the barometer data
- BME280Data baro =
- ParafoilTest::getInstance().sensors->getBME280LastSample();
-
- // Update the repository
- tmRepository.barometerTm.timestamp = miosix::getTick();
- strcpy(tmRepository.barometerTm.sensor_id, "BME280\0");
- tmRepository.barometerTm.pressure = baro.pressure;
-
- // Encode the message
- mavlink_msg_baro_tm_encode(sys_id, comp_id, &m,
- &(tmRepository.barometerTm));
- break;
- }
- default:
- {
- // Send the nack
- LOG_DEBUG(logger, "Unknown telemetry id: {:d}", req_tm);
- nack.recv_msgid = 0;
- nack.seq_ack = 0;
- mavlink_msg_nack_tm_encode(sys_id, comp_id, &m, &nack);
- }
- }
-
- return m;
-}
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h b/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
deleted file mode 100644
index 7dc9fa2f2..000000000
--- a/src/boards/Parafoil/TelemetriesTelecommands/TMRepository.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/TelemetriesTelecommands/Mavlink.h>
-#include <Singleton.h>
-#include <sensors/BME280/BME280Data.h>
-#include <sensors/MPU9250/MPU9250Data.h>
-
-/**
- * @brief This class represents the collection of data that can
- * be sent via radio communication. This refers to mavlink libriaries
- * and structures created in the correct .xml file.
- *
- * It is necessary that this singleton class handles the structure update
- * (when a message pack is requested).
- * The pack method is the core of the class. It returns a mavlink_message
- * with the message data(specified with the id) requested.
- */
-
-namespace Parafoil
-{
-
-class TMRepository : public Boardcore::Singleton<TMRepository>
-{
- friend class Boardcore::Singleton<TMRepository>;
-
-public:
- /**
- * @brief Retrieve a system telemetry message in packed form.
- *
- * @param req_tm required telemetry
- * @param sys_id system id to pack it with
- * @param comp_id component id to pack it with
- * @return packed mavlink struct of that telemetry or a NACK_TM if
- * the telemetry id was not found.
- */
- mavlink_message_t packSystemTM(uint8_t req_tm,
- uint8_t sys_id = TMTC_MAV_SYSID,
- uint8_t comp_id = TMTC_MAV_COMPID);
-
- /**
- * @brief Retrieve a sensor telemetry message in packed form.
- *
- * @param req_tm required telemetry
- * @param sys_id system id to pack it with
- * @param comp_id component id to pack it with
- * @return packed mavlink struct of that telemetry or a NACK_TM if
- * the telemetry id was not found.
- */
- mavlink_message_t packSensorTM(uint8_t req_tm,
- uint8_t sys_id = TMTC_MAV_SYSID,
- uint8_t comp_id = TMTC_MAV_COMPID);
-
-private:
- /**
- * @brief Struct containing all TMs in the form of mavlink messages.
- */
- struct TmRepository_t
- {
- // System telemetries
- mavlink_sys_tm_t sysTm;
- mavlink_fsm_tm_t fsmTm;
- mavlink_pin_tm_t pinObsTm;
- mavlink_logger_tm_t loggerTm;
- mavlink_mavlink_stats_tm_t mavlinkStatsTm;
- mavlink_task_stats_tm_t taskStatsTm;
- mavlink_ada_tm_t adaTm;
- mavlink_nas_tm_t nasTm;
- mavlink_can_tm_t canTm;
- mavlink_payload_flight_tm_t flightTm;
- mavlink_payload_stats_tm_t stastTm;
- mavlink_sensor_state_tm_t sensorsStateTm;
-
- // Sensors telemetries
- mavlink_gps_tm_t gpsTm;
- mavlink_imu_tm_t imuTm;
- mavlink_adc_tm_t adcTm;
- mavlink_baro_tm_t barometerTm;
- mavlink_temp_tm_t temperatureTm;
- mavlink_attitude_tm_t attitudeTm;
- } tmRepository;
-
- /**
- * @brief Logger
- */
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("TMRepository");
-};
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
index 037069f93..fbbd9f164 100644
--- a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
@@ -20,9 +20,14 @@
* THE SOFTWARE.
*/
-#include <Parafoil/ParafoilTest.h>
+#include <Parafoil/Actuators/Actuators.h>
+#include <Parafoil/Configs/WingConfig.h>
+#include <Parafoil/NASController/NASController.h>
+#include <Parafoil/Sensors/Sensors.h>
#include <Parafoil/Wing/AutomaticWingAlgorithm.h>
+#include <Parafoil/Wing/WingController.h>
#include <algorithms/NAS/NASState.h>
+#include <drivers/timer/TimestampTimer.h>
#include <math.h>
#include <utils/Constants.h>
@@ -31,59 +36,38 @@ using namespace Eigen;
namespace Parafoil
{
-AutomaticWingAlgorithm::AutomaticWingAlgorithm(float Kp, float Ki,
- ServoInterface* servo1,
- ServoInterface* servo2)
- : WingAlgorithm(servo1, servo2, "")
-{
- // TODO define umin and umax for antiwindup purposes
- controller = new PIController(Kp, Ki, WING_UPDATE_PERIOD / 1000.0f,
- -2.09439, 2.09439);
-}
AutomaticWingAlgorithm::AutomaticWingAlgorithm(float Kp, float Ki)
: WingAlgorithm("")
{
- controller = new PIController(Kp, Ki, WING_UPDATE_PERIOD / 1000.0f,
- -2.09439, 2.09439);
+ controller = new PIController(
+ Kp, Ki, WingConfig::WING_UPDATE_PERIOD / 1000.0f, -2.09439, 2.09439);
}
AutomaticWingAlgorithm::~AutomaticWingAlgorithm() { delete (controller); }
void AutomaticWingAlgorithm::step()
{
- // The PI calculated result
- float result;
-
- // Acquire the last nas state
- NASState state = ParafoilTest::getInstance().algorithms->getNASLastSample();
- UBXGPSData gps = ParafoilTest::getInstance().sensors->getGPSLastSample();
+ auto nas = NASController::getInstance().getNasState();
// Target direction in respect to the current one
- // TODO to be logged
- auto targetPosition =
- ParafoilTest::getInstance().wingController->getTargetPosition();
- Vector2f targetDirection = targetPosition - Vector2f(state.n, state.e);
+ // TODO: To be logged
+ auto targetPosition = WingController::getInstance().getTargetPosition();
+ Vector2f targetDirection = targetPosition - Vector2f(nas.n, nas.e);
- // Compute the angle of the target direciton
+ // Compute the angle of the target direction
float targetAngle = atan2(targetDirection[1], targetDirection[0]);
// Compute the angle of the current velocity
float velocityAngle;
// In case of a 0 north velocity i force the angle to 90
- if (state.vn == 0 && state.ve == 0)
- {
+ if (nas.vn == 0 && nas.ve == 0)
velocityAngle = 0;
- }
- else if (state.vn == 0)
- {
- velocityAngle = (state.ve > 0 ? 1 : -1) * Constants::PI / 2;
- }
+ else if (nas.vn == 0)
+ velocityAngle = (nas.ve > 0 ? 1 : -1) * Constants::PI / 2;
else
- {
- velocityAngle = atan2(state.ve, state.vn);
- }
+ velocityAngle = atan2(nas.ve, nas.vn);
// Compute the angle difference
float error = targetAngle - velocityAngle;
@@ -91,50 +75,42 @@ void AutomaticWingAlgorithm::step()
// Angle difference
if (error < -Constants::PI || Constants::PI < error)
{
- int moduledError = (int)fmod(error, 2 * Constants::PI);
- if (moduledError == 0 && error > 0)
- {
+ int errorModule = (int)fmod(error, 2 * Constants::PI);
+ if (errorModule == 0 && error > 0)
error = 2 * Constants::PI;
- }
}
- // Call the PI with the just calculated error. The result is in RADIANS, if
- // positive we activate one servo, if negative the other
- result = controller->update(error);
-
- // Convert the result from radians back to degrees
- result = (result / (2 * Constants::PI)) * 360;
+ // Call the PI with the just calculated error. The result is in servo
+ // percentage position [0-1]
+ float result = controller->update(error);
// Actuate the result
if (result < 0)
{
// Activate the servo1 and reset servo2
- if (servo1 != NULL)
- servo1->set(-1 * result);
- if (servo2 != NULL)
- servo2->set(WING_SERVO2_RESET_POSITION);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO1, -result);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO2, 0);
}
else
{
// Activate the servo2 and reset servo1
- if (servo1 != NULL)
- servo1->set(WING_SERVO1_RESET_POSITION);
- if (servo2 != NULL)
- servo2->set(WING_SERVO2_MAX_POSITION - result);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO1, 0);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO2, result);
}
- // Log the servo positions
WingAlgorithmData data;
- data.timestamp = TimestampTimer::getTimestamp();
- data.servo1Angle = servo1 == NULL ? 0 : servo1->getCurrentPosition();
- data.servo2Angle = servo2 == NULL ? 0 : servo2->getCurrentPosition();
+ data.timestamp = TimestampTimer::getTimestamp();
+ data.servo1Angle =
+ Actuators::getInstance().getServoPosition(PARAFOIL_SERVO1);
+ data.servo2Angle =
+ Actuators::getInstance().getServoPosition(PARAFOIL_SERVO2);
data.targetX = targetDirection[0];
data.targetY = targetDirection[1];
data.targetAngle = targetAngle;
data.velocityAngle = velocityAngle;
data.error = error;
data.pidOutput = result;
- SDlogger->log(data);
+ Logger::getInstance().log(data);
}
-} // namespace Parafoil
\ No newline at end of file
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.h b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.h
index a3ad01e46..0392c39af 100644
--- a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.h
+++ b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.h
@@ -19,29 +19,21 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
-#include <Parafoil/Wing/WingAlgorithm.h>
#include <algorithms/PIController.h>
#include <Eigen/Core>
+#include "WingAlgorithm.h"
+
namespace Parafoil
{
+
class AutomaticWingAlgorithm : public WingAlgorithm
{
public:
- /**
- * @brief Construct a new Automatic Wing Algorithm object
- *
- * @param Kp Proportional value for PI controller
- * @param Ki Integral value for PI controller
- * @param servo1 The first servo
- * @param servo2 The second servo
- */
- AutomaticWingAlgorithm(float Kp, float Ki, ServoInterface* servo1,
- ServoInterface* servo2);
-
/**
* @brief Construct a new Automatic Wing Algorithm object
*
@@ -66,4 +58,5 @@ protected:
*/
void step() override;
};
-} // namespace Parafoil
\ No newline at end of file
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingAlgorithm.cpp b/src/boards/Parafoil/Wing/WingAlgorithm.cpp
index 918219564..0ceab211f 100644
--- a/src/boards/Parafoil/Wing/WingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/WingAlgorithm.cpp
@@ -20,6 +20,7 @@
* THE SOFTWARE.
*/
+#include <Parafoil/Actuators/Actuators.h>
#include <Parafoil/Wing/WingAlgorithm.h>
#include <drivers/timer/TimestampTimer.h>
@@ -27,6 +28,7 @@ using namespace Boardcore;
namespace Parafoil
{
+
std::istream& operator>>(std::istream& input, WingAlgorithmData& data)
{
input >> data.timestamp;
@@ -37,13 +39,6 @@ std::istream& operator>>(std::istream& input, WingAlgorithmData& data)
return input;
}
-WingAlgorithm::WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2,
- const char* filename)
- : parser(filename)
-{
- setServo(servo1, servo2);
-}
-
WingAlgorithm::WingAlgorithm(const char* filename) : parser(filename) {}
bool WingAlgorithm::init()
@@ -64,19 +59,6 @@ bool WingAlgorithm::init()
return fileValid;
}
-void WingAlgorithm::setServo(ServoInterface* servo1, ServoInterface* servo2)
-{
- if (servo1 != NULL)
- {
- this->servo1 = servo1;
- }
-
- if (servo2 != NULL)
- {
- this->servo2 = servo2;
- }
-}
-
void WingAlgorithm::addStep(WingAlgorithmData step)
{
// I do it if and only if the file is invalid, because
@@ -103,9 +85,6 @@ void WingAlgorithm::end()
timeStart = 0;
}
-/**
- * PROTECTED METHODS
- */
void WingAlgorithm::step()
{
// Variable to remember what is the step that has to be done
@@ -114,48 +93,37 @@ void WingAlgorithm::step()
if (shouldReset)
{
- // If the algorithm has been stopped
- // i want to start from the beginning
+ // If the algorithm has been stopped i want to start from the beginning
stepIndex = 0;
shouldReset = false;
}
if (stepIndex >= steps.size())
{
- LOG_INFO(logger, "Algorithm end");
// End the procedure so it won't be executed
end();
+
// Set the index to 0 in case of another future execution
stepIndex = 0;
- // Terminate here
+
return;
}
if (currentTimestamp - timeStart >= steps[stepIndex].timestamp)
{
- // I need to execute the current step (if not null servos)
- if (servo1 != NULL)
- {
- servo1->set(steps[stepIndex].servo1Angle);
- }
- if (servo2 != NULL)
- {
- servo2->set(steps[stepIndex].servo2Angle);
- }
-
- // Log the data setting the timestamp to the absolute one
+ Actuators::getInstance().setServo(PARAFOIL_SERVO1,
+ steps[stepIndex].servo1Angle);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO2,
+ steps[stepIndex].servo2Angle);
+
WingAlgorithmData data;
data.timestamp = TimestampTimer::getTimestamp();
data.servo1Angle = steps[stepIndex].servo1Angle;
data.servo2Angle = steps[stepIndex].servo2Angle;
+ Logger::getInstance().log(data);
- // After copy i can log the actual step
- SDlogger->log(data);
-
- // finally increment the stepIndex
stepIndex++;
-
- LOG_INFO(logger, "Step");
}
}
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingAlgorithm.h b/src/boards/Parafoil/Wing/WingAlgorithm.h
index 3e8ac90f8..4bcd97224 100644
--- a/src/boards/Parafoil/Wing/WingAlgorithm.h
+++ b/src/boards/Parafoil/Wing/WingAlgorithm.h
@@ -23,8 +23,7 @@
#pragma once
#include <Parafoil/Wing/WingAlgorithmData.h>
-#include <Parafoil/Wing/WingServo.h>
-#include <common/Algorithm.h>
+#include <algorithms/Algorithm.h>
#include <diagnostic/PrintLogger.h>
#include <miosix.h>
#include <utils/CSVReader/CSVReader.h>
@@ -63,19 +62,9 @@
namespace Parafoil
{
-class WingAlgorithm : public Algorithm
+class WingAlgorithm : public Boardcore::Algorithm
{
public:
- /**
- * @brief Construct a new Wing Algorithm object
- *
- * @param servo1 The first servo
- * @param servo2 The second servo
- * @param filename The csv file where all the operations are stored
- */
- WingAlgorithm(ServoInterface* servo1, ServoInterface* servo2,
- const char* filename);
-
/**
* @brief Construct a new Wing Algorithm object
*
@@ -91,13 +80,6 @@ public:
*/
bool init() override;
- /**
- * @brief Set the Servos objects
- * @param servo1 The first algorithm servo
- * @param servo2 The second algorithm servo
- */
- void setServo(ServoInterface* servo1, ServoInterface* servo2);
-
/**
* @brief Adds manually the step in case of fast debug needs
*
@@ -117,10 +99,6 @@ public:
void end();
protected:
- // Actuators
- ServoInterface* servo1;
- ServoInterface* servo2;
-
/**
* @brief Absolute starting timestamp
*/
@@ -138,28 +116,19 @@ protected:
Boardcore::CSVParser<WingAlgorithmData> parser;
// PrintLogger
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("WingAlgorithm");
- /**
- * @brief SD logger (pre started because of the ParafoilTest.h main class)
- */
- Boardcore::Logger* SDlogger = &Boardcore::Logger::getInstance();
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("wingalgo");
/**
- * @brief Indicates whether the current file of the algorithm is readable
+ * @brief Indicates whether the current file of the algorithm is readable.
*/
bool fileValid = false;
- // This boolean is used to understand when to reset
- // the index where the algorithm has stopped.
- // In case of end call, we want to be able to perform
+ // This boolean is used to understand when to reset the index where the
+ // algorithm has stopped. In case of end call, we want to be able to perform
// another time this algorithm starting from 0
bool shouldReset = false;
- /**
- * @brief This method implements the algorithm step based on the current
- * timestamp
- */
void step() override;
};
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingAlgorithmData.h b/src/boards/Parafoil/Wing/WingAlgorithmData.h
index c95eac5e0..38f29f2c7 100644
--- a/src/boards/Parafoil/Wing/WingAlgorithmData.h
+++ b/src/boards/Parafoil/Wing/WingAlgorithmData.h
@@ -19,11 +19,14 @@
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
+
#pragma once
+
#include <sensors/SensorData.h>
namespace Parafoil
{
+
/**
* This class represents the algorithm data structure that needs to be logged
* into the onboard SD card. It has the timestamp(absolute) and the servo
@@ -31,11 +34,11 @@ namespace Parafoil
*/
struct WingAlgorithmData
{
- uint64_t timestamp; // First timestamp is 0 (in microseconds)
- float servo1Angle; // degrees
- float servo2Angle; // degrees
- float targetAngle; // radians (automatic only)
- float velocityAngle; // radians
+ uint64_t timestamp; // First timestamp is 0 [us]
+ float servo1Angle; // [deg]
+ float servo2Angle; // [deg]
+ float targetAngle; // [rad] (automatic only)
+ float velocityAngle; // [rad]
float targetX; // NED (only automatic algorithm)
float targetY; // NED (only automatic algorithm)
float error;
@@ -54,4 +57,5 @@ struct WingAlgorithmData
<< targetY << "," << error << "," << pidOutput << "\n";
}
};
-} // namespace Parafoil
\ No newline at end of file
+
+} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingController.cpp b/src/boards/Parafoil/Wing/WingController.cpp
index 78fcb38f1..709c2a681 100644
--- a/src/boards/Parafoil/Wing/WingController.cpp
+++ b/src/boards/Parafoil/Wing/WingController.cpp
@@ -20,19 +20,20 @@
* THE SOFTWARE.
*/
+#include "WingController.h"
+
+#include <Parafoil/Actuators/Actuators.h>
+#include <Parafoil/BoardScheduler.h>
#include <Parafoil/Configs/WingConfig.h>
-#include <Parafoil/Wing/WingController.h>
using namespace Boardcore;
+using namespace Parafoil::WingConfig;
namespace Parafoil
{
-WingController::WingController(TaskScheduler* scheduler)
+WingController::WingController()
{
- // Assign the task scheduler
- this->scheduler = scheduler;
-
// Set the current running state
this->running = false;
@@ -44,53 +45,42 @@ WingController::WingController(TaskScheduler* scheduler)
init();
}
-WingController::~WingController()
-{
- // Delete the servos
- delete servo1;
- delete servo2;
-}
+WingController::~WingController() {}
void WingController::addAlgorithm(const char* filename)
{
// Create the algorithm
- WingAlgorithm* algorithm = new WingAlgorithm(servo1, servo2, filename);
+ WingAlgorithm* algorithm = new WingAlgorithm(filename);
// Add the algorithm to the vector and init it
algorithms.push_back(algorithm);
- // If init fails[Beacuse of inexistent file or stuff] doesn't matter
+
+ // If init fails[Because of inexistent file or stuff] doesn't matter
// Because the algorithm is empty and so it won't do anything
algorithms[algorithms.size() - 1]->init();
}
void WingController::addAlgorithm(WingAlgorithm* algorithm)
{
- // Ensure that the servos are correct
- algorithm->setServo(servo1, servo2);
-
// Add the algorithm to the vector
algorithms.push_back(algorithm);
}
void WingController::selectAlgorithm(unsigned int index)
{
- if (index >= 0 && index < algorithms.size())
- {
- LOG_INFO(logger, "Algorithm {:1} selected", index);
+ if (index < algorithms.size())
selectedAlgorithm = index;
- }
else
- {
- // I select the 0 algorithm
selectedAlgorithm = 0;
- }
+
+ LOG_INFO(logger, "Algorithm {:1} selected", index);
}
void WingController::start()
{
- // If the selected algorithm is valid --> also the
- // algorithms array is not empty i start the whole thing
- if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
+ // If the selected algorithm is valid --> also the algorithms array is not
+ // empty i start the whole thing
+ if (selectedAlgorithm < algorithms.size())
{
// Set the boolean that enables the update method to true
running = true;
@@ -98,9 +88,6 @@ void WingController::start()
// Begin the selected algorithm
algorithms[selectedAlgorithm]->begin();
- // In case i start also the task scheduler
- scheduler->start();
-
LOG_INFO(logger, "Wing algorithm started");
}
}
@@ -109,90 +96,49 @@ void WingController::stop()
{
// Set running to false so that the update method doesn't act
running = false;
+
// Stop the algorithm if selected
- if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
- {
+ if (selectedAlgorithm < algorithms.size())
algorithms[selectedAlgorithm]->end();
- }
}
void WingController::flare()
{
- // I stop any on going algorithm
stop();
- // Set the servo position to flare (pull the two ropes as skydiving people
- // do)
- servo1->set(WING_SERVO_MAX_DEGREES - WING_SERVO1_RESET_POSITION);
- servo2->set(WING_SERVO_MAX_DEGREES - WING_SERVO2_RESET_POSITION);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO1, 0);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO2, 0);
}
void WingController::reset()
{
- // I stop any on going algorithm
stop();
- // Set the servo position to reset
- servo1->set(WING_SERVO1_RESET_POSITION);
- servo2->set(WING_SERVO2_RESET_POSITION);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO1, 0);
+ Actuators::getInstance().setServo(PARAFOIL_SERVO2, 0);
}
void WingController::update()
{
- // Check if the algorithm is running
if (!running)
- {
return;
- }
// If the selected algorithm is valid i can update it
- if (selectedAlgorithm >= 0 && selectedAlgorithm < algorithms.size())
- {
+ if (selectedAlgorithm < algorithms.size())
algorithms[selectedAlgorithm]->update();
- }
}
void WingController::init()
{
- // Instantiate the servos
- servo1 = new WingServo(WING_SERVO1_TIMER, WING_SERVO1_PWM_CHANNEL,
- WING_SERVO1_MIN_POSITION, WING_SERVO1_MAX_POSITION,
- WING_SERVO1_RESET_POSITION);
-
- servo2 = new WingServo(WING_SERVO2_TIMER, WING_SERVO2_PWM_CHANNEL,
- WING_SERVO2_MIN_POSITION, WING_SERVO2_MAX_POSITION,
- WING_SERVO2_RESET_POSITION);
-
- // Enable servos
- servo1->enable();
- servo2->enable();
-
- // Register the task
- TaskScheduler::function_t updateFunction([=]() { update(); });
-
- scheduler->addTask(updateFunction, WING_UPDATE_PERIOD, WING_CONTROLLER_ID);
+ BoardScheduler::getInstance().getScheduler().addTask(
+ [=]() { update(); }, WING_UPDATE_PERIOD, WING_CONTROLLER_ID);
}
void WingController::setTargetPosition(Eigen::Vector2f target)
{
- this->targetPosition = target;
+ targetPosition = target;
}
Eigen::Vector2f WingController::getTargetPosition() { return targetPosition; }
-float WingController::getServoPosition(ServosList servoId)
-{
- switch (servoId)
- {
- case PARAFOIL_SERVO1:
- return servo1->getCurrentPosition();
- case PARAFOIL_SERVO2:
- return servo2->getCurrentPosition();
- default:
- return 0;
- }
-
- return 0;
-}
-
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingController.h b/src/boards/Parafoil/Wing/WingController.h
index 41953c84b..eae475720 100644
--- a/src/boards/Parafoil/Wing/WingController.h
+++ b/src/boards/Parafoil/Wing/WingController.h
@@ -22,19 +22,18 @@
#pragma once
-#include <Parafoil/TelemetriesTelecommands/Mavlink.h>
#include <Parafoil/Wing/AutomaticWingAlgorithm.h>
#include <Parafoil/Wing/WingAlgorithm.h>
+#include <common/Mavlink.h>
#include <scheduler/TaskScheduler.h>
#include <Eigen/Core>
/**
- * @brief This class allows the user to select the wing algorithm
- * that has to be used during the tests. It also registers his
- * dedicated function in the task schduler in order to be
- * executed every fixed period and to update the two servos position
- * depending on the selected algorithm.
+ * @brief This class allows the user to select the wing algorithm that has to
+ * be used during the tests. It also registers his dedicated function in the
+ * task scheduler in order to be executed every fixed period and to update the
+ * two servos position depending on the selected algorithm.
*
* Use case example:
* controller = new WingController(scheduler);
@@ -52,15 +51,12 @@
namespace Parafoil
{
-class WingController
+
+class WingController : public Boardcore::Singleton<WingController>
{
-private:
- /**
- * @brief Servo actuators
- */
- ServoInterface* servo1;
- ServoInterface* servo2;
+ friend Boardcore::Singleton<WingController>;
+private:
/**
* @brief Target position
*/
@@ -74,17 +70,11 @@ private:
/**
* @brief PrintLogger
*/
- Boardcore::PrintLogger logger =
- Boardcore::Logging::getLogger("ParafoilTest");
-
- /**
- * @brief The common task scheduler
- */
- Boardcore::TaskScheduler* scheduler;
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("wingctrl");
/**
* @brief This attribute is modified by the mavlink radio section.
- * The user using the Ground Station can select the pre-enumered algorithm
+ * The user using the Ground Station can select the pre-enumerated algorithm
* to execute
*/
unsigned int selectedAlgorithm;
@@ -101,12 +91,7 @@ private:
void init();
public:
- /**
- * @brief Construct a new Wing Controller object
- *
- * @param scheduler The main used task scheduler
- */
- WingController(Boardcore::TaskScheduler* scheduler);
+ WingController();
/**
* @brief Destroy the Wing Controller object.
@@ -176,4 +161,5 @@ public:
float getServoPosition(ServosList servoId);
};
+
} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingServo.cpp b/src/boards/Parafoil/Wing/WingServo.cpp
deleted file mode 100644
index e628c5457..000000000
--- a/src/boards/Parafoil/Wing/WingServo.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/Wing/WingServo.h>
-
-using namespace Boardcore;
-
-namespace Parafoil
-{
-
-WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel,
- float minPosition, float maxPosition)
- : WingServo(timer, pwmChannel, minPosition, maxPosition, minPosition)
-{
-}
-
-WingServo::WingServo(TIM_TypeDef* timer, TimerUtils::Channel pwmChannel,
- float minPosition, float maxPosition, float resetPosition)
- : ServoInterface(minPosition, maxPosition, resetPosition)
-{
- servo = new Servo(timer, pwmChannel, WING_SERVO_MIN_PULSE,
- WING_SERVO_MAX_PULSE, WING_SERVO_FREQUENCY);
-}
-
-WingServo::~WingServo() {}
-
-void WingServo::enable()
-{
- servo->enable();
- // Set the servo position to reset
- setPosition(RESET_POS);
-}
-
-void WingServo::disable() { servo->disable(); }
-
-void WingServo::selfTest()
-{
- setPosition(MIN_POS);
- miosix::Thread::sleep(1000);
- setPosition(RESET_POS);
- miosix::Thread::sleep(1000);
- setPosition(MAX_POS);
-}
-
-void WingServo::setPosition(float angle)
-{
- servo->setPosition(angle / WING_SERVO_MAX_DEGREES);
- this->currentPosition = angle;
-}
-
-float WingServo::preprocessPosition(float angle) { return angle; }
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/Wing/WingServo.h b/src/boards/Parafoil/Wing/WingServo.h
deleted file mode 100644
index 6dcfab74e..000000000
--- a/src/boards/Parafoil/Wing/WingServo.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Matteo Pignataro
- *
- * 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 <Parafoil/Configs/WingConfig.h>
-#include <actuators/Servo/Servo.h>
-#include <common/ServoInterface.h>
-
-namespace Parafoil
-{
-
-class WingServo : public ServoInterface
-{
-public:
- /**
- * @brief Construct a new Wing Servo object
- * It will use the min position as reset
- *
- * @param timer The servo timer that needs to be used
- * @param pwmChannel The servo pwm port used
- * @param minPosition The min allowed servo position(degrees)
- * @param maxPosition The max allowed servo position(degrees)
- */
- WingServo(TIM_TypeDef* timer, Boardcore::TimerUtils::Channel pwmChannel,
- float minPosition, float maxPosition);
-
- /**
- * @brief Construct a new Wing Servo object
- *
- * @param timer The servo timer that needs to be used
- * @param pwmChannel The servo pwm port used
- * @param minPosition The min allowed servo position(degrees)
- * @param maxPosition The max allowed servo position(degrees)
- * @param resetPosition The position where the servo is when it
- * resets(degrees)
- */
- WingServo(TIM_TypeDef* timer, Boardcore::TimerUtils::Channel pwmChannel,
- float minPosition, float maxPosition, float resetPosition);
-
- /**
- * @brief Destroy the Wing Servo object
- */
- ~WingServo();
-
- void enable() override;
-
- void disable() override;
-
- /**
- * @brief Execute a self test with the servo
- */
- void selfTest() override;
-
-private:
- Boardcore::Servo* servo;
-
-protected:
- /**
- * @brief Set the servo position
- * @param angle Servo position(degrees)
- */
- void setPosition(float angle) override;
-
- /**
- * @brief Method to convert the angle passed by the user to an
- * useful angle for the servo interface
- * @param angle The angle(degrees)
- * @return float The converted angle
- */
- float preprocessPosition(float angle) override;
-};
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/mocksensors/MockGPS.h b/src/boards/Parafoil/mocksensors/MockGPS.h
deleted file mode 100644
index cc49cd9d7..000000000
--- a/src/boards/Parafoil/mocksensors/MockGPS.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <TimestampTimer.h>
-#include <mocksensors/MockSensorsData.h>
-#include <mocksensors/lynx_flight_data/lynx_gps_data.h>
-#include <sensors/Sensor.h>
-
-namespace DeathStackBoard
-{
-
-class MockGPS : public Sensor<MockGPSData>
-{
-public:
- MockGPS() {}
-
- bool init() override { return true; }
-
- bool selfTest() override { return true; }
-
- MockGPSData sampleImpl() override
- {
- // if (inside_lha)
- // {
- // lat = lat_inside;
- // lon = lon_inside;
- // }
- // else
- // {
- // lat = lat_outside;
- // lon = lon_outside;
- // }
-
- MockGPSData data;
-
- data.gps_timestamp = TimestampTimer::getTimestamp();
- data.fix = true;
-
- if (before_liftoff)
- {
- data.latitude = GPS_DATA_LAT[0];
- data.longitude = GPS_DATA_LON[0];
- data.velocity_north = GPS_DATA_VNORD[0];
- data.velocity_east = GPS_DATA_VEAST[0];
- data.velocity_down = GPS_DATA_VDOWN[0];
- data.num_satellites = GPS_DATA_NSATS[0];
- data.fix = true;
- }
- else if (i < GPS_DATA_SIZE)
- {
- data.latitude = GPS_DATA_LAT[i];
- data.longitude = GPS_DATA_LON[i];
- data.velocity_north = GPS_DATA_VNORD[i];
- data.velocity_east = GPS_DATA_VEAST[i];
- data.velocity_down = GPS_DATA_VDOWN[i];
- data.num_satellites = GPS_DATA_NSATS[i];
- data.fix = true;
- i++;
- }
-
- return data;
- }
-
- void signalLiftoff() { before_liftoff = false; }
-
-private:
- // Set of coordinates inside the Launch Hazard Area
- // const double lat_inside = 41.807487124105;
- // const double lon_inside = 14.0551665469291;
-
- // Set of coordinates outside the Launch Hazard Area
- // const double lat_outside = 41.840794;
- // const double lon_outside = 14.003920;
-
- volatile bool before_liftoff = true;
- bool inside_lha = true;
-
- unsigned int i = 0;
-};
-} // namespace DeathStackBoard
diff --git a/src/boards/Parafoil/mocksensors/MockIMU.h b/src/boards/Parafoil/mocksensors/MockIMU.h
deleted file mode 100644
index 8405b14d7..000000000
--- a/src/boards/Parafoil/mocksensors/MockIMU.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Authors: Luca Conterio, Marco Cella
- *
- * 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 <TimestampTimer.h>
-#include <mocksensors/MockSensorsData.h>
-#include <mocksensors/lynx_flight_data/lynx_imu_data.h>
-#include <sensors/Sensor.h>
-
-namespace DeathStackBoard
-{
-
-class MockIMU : public Sensor<MockIMUData>
-{
-public:
- MockIMU() {}
-
- bool init() override { return true; }
-
- bool selfTest() override { return true; }
-
- MockIMUData sampleImpl() override
- {
- if (before_liftoff)
- {
- index = 0;
- }
-
- MockIMUData data;
- uint64_t t = TimestampTimer::getTimestamp();
-
- data.accel_timestamp = t;
- data.accel_x = ACCEL_DATA[index][0];
- data.accel_y = ACCEL_DATA[index][1];
- data.accel_z = ACCEL_DATA[index][2];
-
- data.gyro_timestamp = t;
- data.gyro_x = GYRO_DATA[index][0];
- data.gyro_y = GYRO_DATA[index][1];
- data.gyro_z = GYRO_DATA[index][2];
-
- data.mag_timestamp = t;
- data.mag_x = MAG_DATA[index][0];
- data.mag_y = MAG_DATA[index][1];
- data.mag_z = MAG_DATA[index][2];
-
- // when finished, go back to the beginning
- index = (index + 1) % IMU_DATA_SIZE;
-
- return data;
- }
-
- void signalLiftoff() { before_liftoff = false; }
-
-private:
- unsigned int index = 0;
- volatile bool before_liftoff = true;
-};
-
-} // namespace DeathStackBoard
diff --git a/src/boards/Parafoil/mocksensors/MockPressureSensor.h b/src/boards/Parafoil/mocksensors/MockPressureSensor.h
deleted file mode 100644
index 53fbbc12b..000000000
--- a/src/boards/Parafoil/mocksensors/MockPressureSensor.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Mozzarelli
- *
- * 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 <mocksensors/lynx_flight_data/lynx_press_data.h>
-#include <Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.h>
-#include <drivers/timer/TimestampTimer.h>
-#include <sensors/Sensor.h>
-
-#include <random>
-
-#include "MockSensorsData.h"
-
-namespace Parafoil
-{
-
-class MockPressureSensor : public Boardcore::Sensor<MockPressureData>
-{
-public:
- MockPressureSensor(bool with_noise_ = false) : with_noise(with_noise_) {}
-
- bool init() override { return true; }
-
- bool selfTest() override { return true; }
-
- MockPressureData sampleImpl() override
- {
- MockPressureData data;
-
- data.pressureTimestamp = Boardcore::TimestampTimer::getTimestamp();
-
- if (before_liftoff)
- {
- data.pressure = PRESSURE_STATIC_DATA[0];
- }
- else
- {
- if (i < PRESSURE_STATIC_DATA_SIZE)
- {
- data.pressure = PRESSURE_STATIC_DATA[i++];
- }
- else
- {
- data.pressure =
- PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE - 1];
- // Reset
- i = 0;
- }
- }
-
- if (with_noise)
- {
- data.pressure = addNoise(data.pressure);
- }
-
- data.pressure = movingAverage(data.pressure);
-
- return data;
- }
-
- void signalLiftoff() { before_liftoff = false; }
-
-private:
- bool with_noise;
- volatile bool before_liftoff = true;
- volatile unsigned int i = 0; // Last index
- std::default_random_engine generator{1234567};
- std::normal_distribution<float> distribution{0.0f, 5.0f};
-
- // moving average
- const float moving_avg_coeff = 0.95;
- float accumulator = 0.0;
-
- float addNoise(float sample)
- {
- return quantization(sample + distribution(generator));
- }
-
- float quantization(float sample) { return round(sample / 30.0) * 30.0; }
-
- float movingAverage(float new_value)
- {
- accumulator = (moving_avg_coeff * new_value) +
- (1.0 - moving_avg_coeff) * accumulator;
- return accumulator;
- }
-};
-
-} // namespace Parafoil
diff --git a/src/boards/Parafoil/mocksensors/MockSensors.h b/src/boards/Parafoil/mocksensors/MockSensors.h
deleted file mode 100644
index 3b0b5ca5c..000000000
--- a/src/boards/Parafoil/mocksensors/MockSensors.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include "MockGPS.h"
-#include "MockIMU.h"
-#include "MockPressureSensor.h"
-#include "MockSpeedSensor.h"
-#include "utils/testutils/TestSensor.h"
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/MockSensorsData.h b/src/boards/Parafoil/mocksensors/MockSensorsData.h
deleted file mode 100644
index de12014dc..000000000
--- a/src/boards/Parafoil/mocksensors/MockSensorsData.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <sensors/SensorData.h>
-
-struct MockIMUData : public Boardcore::AccelerometerData,
- public Boardcore::GyroscopeData,
- public Boardcore::MagnetometerData
-{
- static std::string header()
- {
- return "accel_timestamp,accel_x,accel_y,accel_z,gyro_timestamp,gyro_x,"
- "gyro_y,"
- "gyro_z,mag_timestamp,mag_x,mag_y,mag_z\n";
- }
-
- void print(std::ostream& os) const
- {
- os << accelerationTimestamp << "," << accelerationX << ","
- << accelerationY << "," << accelerationZ << ","
- << angularVelocityTimestamp << "," << angularVelocityX << ","
- << angularVelocityY << "," << angularVelocityZ << ","
- << magneticFieldTimestamp << "," << magneticFieldX << ","
- << magneticFieldY << "," << magneticFieldZ << "\n";
- }
-};
-
-struct MockPressureData : public Boardcore::PressureData
-{
- static std::string header()
- {
- return "press_timestamp,press,temp_timestamp,temp\n";
- }
-
- void print(std::ostream& os) const
- {
- os << pressureTimestamp << "," << pressure << "\n";
- }
-};
-
-struct MockGPSData : public Boardcore::GPSData
-{
- static std::string header()
- {
- return "gps_timestamp,latitude,longitude,height,velocity_north,"
- "velocity_east,velocity_down,speed,track,num_satellites,fix\n";
- }
-
- void print(std::ostream& os) const
- {
- os << gpsTimestamp << "," << latitude << "," << longitude << ","
- << height << "," << velocityNorth << "," << velocityEast << ","
- << velocityDown << "," << speed << "," << track << ","
- << (int)satellites << "," << (int)fix << "\n";
- }
-};
-
-struct MockSpeedData
-{
- uint64_t timestamp;
- float speed;
-
- static std::string header() { return "timestamp,speed\n"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << speed << "\n";
- }
-};
diff --git a/src/boards/Parafoil/mocksensors/MockSpeedSensor.h b/src/boards/Parafoil/mocksensors/MockSpeedSensor.h
deleted file mode 100644
index 1b1642c27..000000000
--- a/src/boards/Parafoil/mocksensors/MockSpeedSensor.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <Common.h>
-#include <mocksensors/MockSensorsData.h>
-#include <mocksensors/lynx_flight_data/lynx_airspeed_data.h>
-#include <sensors/Sensor.h>
-
-#include <random>
-
-namespace DeathStackBoard
-{
-
-class MockSpeedSensor : public Sensor<MockSpeedData>
-{
-public:
- MockSpeedSensor() {}
-
- bool init() override { return true; }
-
- bool selfTest() override { return true; }
-
- MockSpeedData sampleImpl() override
- {
- MockSpeedData data;
-
- data.timestamp = TimestampTimer::getTimestamp();
-
- if (before_liftoff)
- {
- data.speed = AIRSPEED_DATA[0];
- }
- else
- {
- if (i < AIRSPEED_DATA_SIZE)
- {
- data.speed = AIRSPEED_DATA[i++];
- }
- else
- {
- data.speed = AIRSPEED_DATA[AIRSPEED_DATA_SIZE - 1];
- }
- }
-
- return data;
- }
-
- void signalLiftoff() { before_liftoff = false; }
-
-private:
- volatile bool before_liftoff = true;
- volatile unsigned int i = 0; // Last index
-};
-
-} // namespace DeathStackBoard
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
deleted file mode 100644
index bd3dbd2cf..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_airspeed_data.cpp
+++ /dev/null
@@ -1,923 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "lynx_airspeed_data.h"
-
-const float AIRSPEED_DATA[AIRSPEED_DATA_SIZE] = {
- 12.4113951, 10.6396132, 17.169529, 22.8292465, 10.5444088, 8.39081669,
- 10.641614, 11.4718409, 20.4783287, 15.3504314, 15.3513031, 9.63413239,
- 25.3731174, 18.9253101, 16.0033855, 24.1376781, 28.4115391, 27.6845875,
- 29.4730015, 33.6768837, 34.5762138, 35.450737, 36.8664055, 36.8693237,
- 38.7607841, 41.314991, 41.3147278, 42.0521317, 45.778492, 46.6648064,
- 47.7517242, 49.6425095, 52.0558586, 52.4533348, 53.8047791, 55.6794052,
- 58.0183525, 60.6116638, 60.7854004, 63.1039772, 65.9648132, 66.4317398,
- 68.2648849, 70.625473, 71.7813721, 73.9020615, 75.5481796, 77.4300003,
- 78.3614883, 80.6872864, 82.9510956, 82.7034836, 86.2424927, 86.9628677,
- 88.2577972, 90.9050903, 92.1436462, 94.1384506, 95.7668915, 97.7961044,
- 99.5847855, 102.038879, 103.549995, 105.355217, 107.584, 109.401268,
- 112.003922, 112.947815, 114.310066, 116.204742, 117.900772, 119.379234,
- 121.453636, 123.484711, 124.659866, 126.166412, 127.724335, 129.257675,
- 130.638611, 132.462296, 133.884125, 135.494843, 137.123718, 138.941895,
- 140.886703, 143.3172, 143.985199, 146.436874, 147.651245, 149.980957,
- 151.795288, 152.972382, 155.550827, 157.63028, 158.979904, 159.744888,
- 162.516342, 163.158035, 164.464325, 165.421356, 167.523666, 169.456955,
- 170.805832, 172.415237, 173.797318, 175.7146, 177.344955, 179.430923,
- 181.203964, 182.604797, 184.202942, 183.232407, 183.828201, 185.775909,
- 187.161652, 188.274979, 190.970871, 193.048584, 193.552383, 193.903107,
- 195.170502, 196.671463, 197.220306, 197.083771, 197.749985, 198.354935,
- 199.889923, 200.472031, 201.510834, 201.720306, 201.343964, 201.127594,
- 201.470779, 200.658096, 200.537796, 200.431641, 199.389252, 199.213486,
- 198.424728, 197.32753, 196.845001, 195.506439, 194.997894, 194.371918,
- 193.090515, 193.750916, 192.536942, 192.263809, 191.898621, 191.349625,
- 191.828659, 191.363953, 190.446213, 189.351685, 185.858109, 180.658096,
- 180.828461, 183.347458, 184.327713, 186.507248, 187.238586, 187.274399,
- 188.080185, 187.780655, 186.073151, 186.473251, 184.401474, 185.514282,
- 184.814407, 182.69313, 182.772842, 182.772842, 181.386536, 180.426163,
- 179.513199, 179.017822, 179.074036, 179.045639, 178.686157, 177.242355,
- 177.189133, 176.377136, 176.152817, 175.485916, 174.898453, 174.489395,
- 173.92334, 173.084961, 172.043137, 171.424362, 171.075867, 170.613815,
- 169.925919, 169.062241, 168.137009, 167.604156, 167.320312, 166.214432,
- 166.065033, 166.495438, 165.243683, 164.243286, 163.642975, 163.649567,
- 162.826721, 163.247635, 162.502182, 160.487228, 160.60936, 160.999207,
- 159.284119, 158.065231, 157.567429, 156.423874, 157.117569, 154.945602,
- 156.644455, 156.413177, 155.87352, 155.647827, 154.769485, 153.900177,
- 153.991287, 152.611343, 152.811279, 151.95636, 151.686584, 151.216324,
- 150.376831, 150.142502, 149.453705, 148.636536, 148.431534, 147.900177,
- 147.052231, 146.009003, 145.9505, 145.679123, 144.611954, 144.45787,
- 143.784164, 143.393646, 143.088669, 142.234741, 141.963608, 141.214371,
- 141.056747, 140.908966, 140.156128, 140.33905, 139.678894, 138.870056,
- 138.330856, 137.469437, 135.973679, 135.708847, 135.49617, 134.939362,
- 134.409241, 133.690781, 133.235306, 133.319, 132.43364, 132.332947,
- 131.808243, 132.145615, 131.843628, 131.656967, 131.189651, 130.84111,
- 130.822113, 129.194061, 129.159836, 128.43576, 127.813522, 127.921944,
- 126.603584, 125.869659, 126.404015, 125.184059, 124.586815, 124.220787,
- 124.580544, 124.249268, 124.175308, 123.479156, 123.30941, 122.77816,
- 122.195129, 121.41465, 121.199074, 120.922768, 120.377502, 120.308357,
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- 7.24548101, 8.54843044, 8.54857635, 8.54848385, 8.54835129, 8.5487299,
- 8.5487299, 8.54850483, 8.54849625, 8.54861069, 7.24535179, 8.5484066,
- 8.54865646, 7.24535894, 7.24524355, 10.6893644, 8.54849148, 8.54852676,
- 7.24538612, 7.24532795, 9.67798424, 8.54865551, 10.6891737, 7.2452693,
- 8.54872513, 8.54863167, 9.67783546, 8.548522, 8.5486517, 8.54854679,
- 8.54851913, 8.54853058, 7.24531841, 8.54833317, 9.67802525, 9.67797279,
- 8.54864502, 8.54887867, 8.54854679, 7.24550486, 8.54846764, 9.67776108,
- 5.64895296, 10.6895771, 9.67808437, 7.24518299, 9.67793846, 8.5486908,
- 9.67781734, 8.54827976, 9.67785645, 8.54854298, 7.2452569, 8.54874706,
- 9.67804909, 3.04495716, 7.24530792, 3.04493141, 8.54869556, 7.24528456,
- 3.36803365, 9.67791367, 8.54862022, 8.54866791, 7.24512434, 9.67784405,
- 8.54853153, 7.10101318, 7.24540567, 8.54863548, 9.67797852, 8.54854393,
- 8.42855549, 8.54858875, 9.6777401, 9.67780876, 8.54880238, 7.24542999,
- 9.67799664, 9.67793846, 9.67816734, 9.67816734, 5.64909172, 9.67804813,
- 9.67784214, 8.54853344, 8.54864025, 5.6489892, 8.54871655, 7.24519587,
- 8.54860115, 8.54881001, 7.24530077, 7.24541664, 9.67792988, 5.46404219,
- 8.54865074, 8.54857445, 8.54853439, 8.54873848, 8.54854107, 8.54854488,
- 8.54865932, 7.24547338, 7.24516535, 8.54849148, 8.54853058, 9.67776966,
- 8.5487051, 9.67784119, 8.54872322, 7.24544525, 9.67783737, 8.54861641,
- 8.5487442, 8.54861069, 9.6781168, 7.24540949, 7.24533892, 3.04493976,
- 8.54883671, 9.67795563, 9.67778397, 8.54867268, 9.6780014, 8.54862785,
- 9.67795277, 8.54854679, 8.54880428, 8.54883575, 7.24538469, 9.67802906,
- 8.54888344, 9.67798042, 8.54868507, 5.46399879, 10.6895142, 8.54852676,
- 8.54869843, 8.54868317, 8.54869843, 3.04499841, 3.36809969, 7.24543095,
- 9.67807961, 9.67805576, 9.67798233, 8.54868221, 8.54860497, 8.54870701,
- 8.54848385, 8.5486412, 9.67798615, 8.54881287, 9.67815304, 7.24539518,
- 5.64905691, 9.67804432, 3.3681438, 9.67823029, 8.54854393, 8.54850578,
- 7.24552011, 9.67810535, 8.54876232, 9.67815113, 8.54876328, 9.67800903,
- 8.54845333, 8.54876232, 9.67807293, 9.67807293, 7.24555397, 9.67800236,
- 8.54891872, 8.54874134, 9.67811108, 8.5487175, 9.6781702, 8.54857922,
- 9.67806149, 9.67820644, 9.67806911, 5.46411324, 8.54864311, 3.36811256,
- 8.548769, 8.54872608, 7.24541473, 9.67819977, 8.54888153, 7.24551058,
- 7.2453866, 8.54862022, 3.04508567, 3.36803555, 5.64911175, 5.64906168,
- 7.24531889, 8.54879284, 7.24552441, 8.54881668, 9.67796135, 9.67796993,
- 9.67819977, 8.54873562, 5.46410894, 8.42869854, 7.10112619, 5.46413422,
- 5.46404457, 7.10100889, 7.10103083, 7.10087013, 8.42854595, 5.46431112,
- 7.1013093, 8.42872524, 8.42856789, 8.42877579, 8.4286108, 7.10108471,
- 7.10111713, 8.42870522, 7.10117722, 7.10108423, 7.10116291, 5.46417046,
- 5.46410227, 8.42852306, 7.10091877, 7.10091877, 8.42876053, 7.1011095,
- 8.42865086, 8.42845726, 7.10110044, 8.42866516, 5.46416044, 7.10095024,
- 5.46399307, 5.46412134, 7.10102654, 8.42853832, 7.10112858, 8.42865181,
- 8.42865181, 7.10094023, 7.10088062, 8.42878056, 7.10099649, 7.1011157,
- 7.10101175, 5.46409607, 7.10099077, 7.10110712, 7.1011138, 7.10096455,
- 8.4284668, 7.10101175, 5.46410799, 7.10104561, 8.42859745, 5.46416044,
- 7.10087252, 5.46405506, 8.42874813, 7.10093355, 5.4641819, 5.4641881,
- 5.46416664, 7.10129452, 7.10114193, 7.1008954, 8.42853546, 5.4641099,
- 5.4641099, 7.10110474, 7.1011548, 8.42870617, 5.46414089, 7.10110712,
- 8.42862034, 5.4642539, 7.10094786, 7.10091734, 7.10112095, 7.10101986,
- 8.54879189, 8.54861546, 9.67801952, 8.54868698, 8.54884529, 8.54895592,
- 8.54869461, 9.67792988, 9.67812061, 9.67813778, 8.54891109, 11.6121511,
- 8.54892159, 7.24555683, 7.24559784, 8.54881954, 9.67842865, 8.54896736,
- 7.24565172, 8.54852104, 8.54890347, 8.54875278, 9.67812347, 10.6893873,
- 9.67832088, 8.5486536};
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.cpp
deleted file mode 100644
index 693cea75a..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.cpp
+++ /dev/null
@@ -1,10979 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "lynx_gps_data.h"
-
-const float GPS_DATA_LAT[GPS_DATA_SIZE] = {
- 41.808651, 41.808651, 41.808651, 41.808651, 41.808651, 41.808651,
- 41.808651, 41.808651, 41.808651, 41.808651, 41.808651, 41.8086472,
- 41.8086472, 41.8086472, 41.8086433, 41.8086395, 41.8086395, 41.8086357,
- 41.8086357, 41.8086319, 41.8086319, 41.8086281, 41.8086243, 41.8086205,
- 41.8086166, 41.8086128, 41.8086128, 41.808609, 41.8086014, 41.8085976,
- 41.8085938, 41.8085938, 41.8085861, 41.8085823, 41.8085747, 41.8085747,
- 41.8085747, 41.8085594, 41.8085518, 41.8085518, 41.8085442, 41.8085365,
- 41.8085327, 41.8085251, 41.8085175, 41.8085136, 41.808506, 41.8084984,
- 41.8084908, 41.8084831, 41.8084755, 41.8084679, 41.8084602, 41.8084526,
- 41.808445, 41.8084335, 41.8084297, 41.8084221, 41.8084145, 41.808403,
- 41.8083954, 41.8083878, 41.8083725, 41.8083649, 41.8083534, 41.808342,
- 41.8083344, 41.8083191, 41.8083038, 41.8082924, 41.8082771, 41.8082619,
- 41.8082466, 41.8082314, 41.8082161, 41.808197, 41.8081818, 41.8081665,
- 41.8081512, 41.808136, 41.8081207, 41.8081093, 41.8080978, 41.8080788,
- 41.8080673, 41.8080521, 41.8080368, 41.8080254, 41.8080101, 41.8079987,
- 41.8079834, 41.807972, 41.8079567, 41.8079453, 41.8079338, 41.8079224,
- 41.8079071, 41.8078957, 41.8078804, 41.807869, 41.8078575, 41.8078461,
- 41.8078346, 41.8078232, 41.8078156, 41.8078041, 41.8078003, 41.8077888,
- 41.8077774, 41.8077698, 41.8077583, 41.8077507, 41.8077393, 41.8077316,
- 41.8077202, 41.8077126, 41.8077011, 41.8076935, 41.807682, 41.8076744,
- 41.807663, 41.8076591, 41.8076477, 41.8076401, 41.8076286, 41.807621,
- 41.8076134, 41.8076019, 41.8075981, 41.8075867, 41.807579, 41.8075714,
- 41.80756, 41.8075523, 41.8075409, 41.8075371, 41.8075256, 41.807518,
- 41.8075104, 41.8074989, 41.8074913, 41.8074837, 41.807476, 41.8074646,
- 41.8074608, 41.8074493, 41.8074417, 41.8074341, 41.8074226, 41.807415,
- 41.8074036, 41.8073959, 41.8073883, 41.8073807, 41.8073692, 41.8073616,
- 41.807354, 41.8073425, 41.8073349, 41.8073273, 41.8073196, 41.8073082,
- 41.8073006, 41.8072929, 41.8072815, 41.8072739, 41.8072662, 41.8072586,
- 41.8072472, 41.8072395, 41.8072319, 41.8072243, 41.8072128, 41.8072052,
- 41.8071976, 41.8071899, 41.8071823, 41.8071747, 41.8071632, 41.8071594,
- 41.807148, 41.8071442, 41.8071327, 41.8071251, 41.8071213, 41.8071098,
- 41.8071022, 41.8070946, 41.8070869, 41.8070831, 41.8070717, 41.8070641,
- 41.8070602, 41.8070526, 41.807045, 41.8070374, 41.8070297, 41.8070221,
- 41.8070145, 41.8070068, 41.8069992, 41.8069916, 41.8069839, 41.8069763,
- 41.8069687, 41.8069611, 41.8069534, 41.8069458, 41.8069382, 41.8069267,
- 41.8069229, 41.8069115, 41.8069038, 41.8068962, 41.8068886, 41.806881,
- 41.8068733, 41.8068657, 41.8068542, 41.8068466, 41.806839, 41.8068314,
- 41.8068237, 41.8068161, 41.8068085, 41.8068008, 41.8067932, 41.8067856,
- 41.806778, 41.8067665, 41.8067627, 41.8067513, 41.8067474, 41.806736,
- 41.8067284, 41.8067245, 41.8067131, 41.8067055, 41.8066978, 41.8066902,
- 41.8066864, 41.806675, 41.8066673, 41.8066635, 41.8066559, 41.8066483,
- 41.8066406, 41.806633, 41.8066254, 41.8066216, 41.8066139, 41.8066063,
- 41.8066025, 41.8065948, 41.8065872, 41.8065834, 41.8065758, 41.8065681,
- 41.8065643, 41.8065567, 41.8065491, 41.8065453, 41.8065376, 41.80653,
- 41.8065262, 41.8065186, 41.8065109, 41.8065071, 41.8064995, 41.8064919,
- 41.8064842, 41.8064766, 41.806469, 41.8064651, 41.8064575, 41.8064499,
- 41.8064461, 41.8064384, 41.806427, 41.8064232, 41.8064156, 41.8064079,
- 41.8064003, 41.8063927, 41.8063889, 41.8063774, 41.8063698, 41.806366,
- 41.8063545, 41.8063469, 41.8063393, 41.8063316, 41.8063278, 41.8063164,
- 41.8063087, 41.8063049, 41.8062935, 41.8062897, 41.806282, 41.8062744,
- 41.8062668, 41.8062592, 41.8062515, 41.8062439, 41.8062363, 41.8062286,
- 41.8062248, 41.8062134, 41.8062096, 41.8062019, 41.8061943, 41.8061867,
- 41.806179, 41.8061714, 41.8061676, 41.80616, 41.8061485, 41.8061447,
- 41.8061371, 41.8061295, 41.8061218, 41.8061142, 41.8061104, 41.8061028,
- 41.8060951, 41.8060913, 41.8060799, 41.8060722, 41.8060684, 41.8060608,
- 41.8060532, 41.8060493, 41.8060417, 41.8060341, 41.8060303, 41.8060188,
- 41.8060112, 41.8060074, 41.8059998, 41.8059921, 41.8059883, 41.8059807,
- 41.8059731, 41.8059692, 41.8059616, 41.805954, 41.8059502, 41.8059425,
- 41.8059349, 41.8059311, 41.8059235, 41.8059158, 41.805912, 41.8059044,
- 41.8058968, 41.8058929, 41.8058853, 41.8058777, 41.8058739, 41.8058624,
- 41.8058548, 41.805851, 41.8058434, 41.8058357, 41.8058319, 41.8058243,
- 41.8058167, 41.8058128, 41.8058014, 41.8057938, 41.8057899, 41.8057823,
- 41.8057747, 41.8057709, 41.8057594, 41.8057518, 41.805748, 41.8057404,
- 41.8057327, 41.8057289, 41.8057175, 41.8057137, 41.805706, 41.8056984,
- 41.8056908, 41.8056831, 41.8056755, 41.8056717, 41.8056641, 41.8056564,
- 41.8056488, 41.8056412, 41.8056335, 41.8056297, 41.8056221, 41.8056145,
- 41.8056068, 41.8055992, 41.8055954, 41.8055878, 41.8055763, 41.8055725,
- 41.8055649, 41.8055573, 41.8055496, 41.805542, 41.8055344, 41.8055305,
- 41.8055229, 41.8055153, 41.8055077, 41.8055, 41.8054962, 41.8054886,
- 41.8054771, 41.8054733, 41.8054657, 41.8054581, 41.8054543, 41.8054466,
- 41.8054352, 41.8054314, 41.8054237, 41.8054161, 41.8054123, 41.8054008,
- 41.805397, 41.8053894, 41.8053818, 41.8053741, 41.8053665, 41.8053589,
- 41.8053551, 41.8053474, 41.8053398, 41.805336, 41.8053246, 41.8053169,
- 41.8053131, 41.8053055, 41.8052979, 41.8052902, 41.8052826, 41.805275,
- 41.8052711, 41.8052635, 41.8052559, 41.8052483, 41.8052406, 41.8052368,
- 41.8052292, 41.8052216, 41.8052139, 41.8052063, 41.8051987, 41.8051949,
- 41.8051872, 41.8051796, 41.8051758, 41.8051682, 41.8051605, 41.8051567,
- 41.8051491, 41.8051414, 41.8051376, 41.80513, 41.8051224, 41.8051186,
- 41.8051109, 41.8051033, 41.8050957, 41.805088, 41.8050804, 41.8050766,
- 41.8050652, 41.8050575, 41.8050499, 41.8050423, 41.8050385, 41.8050308,
- 41.8050232, 41.8050194, 41.8050117, 41.8050041, 41.8050003, 41.8049927,
- 41.804985, 41.8049774, 41.8049736, 41.8049698, 41.8049622, 41.8049583,
- 41.8049545, 41.8049507, 41.8049431, 41.8049393, 41.8049355, 41.8049278,
- 41.804924, 41.8049202, 41.8049164, 41.8049126, 41.8049049, 41.8049011,
- 41.8048973, 41.8048935, 41.8048897, 41.8048859, 41.804882, 41.8048782,
- 41.8048744, 41.8048706, 41.8048668, 41.8048592, 41.8048592, 41.8048553,
- 41.8048515, 41.8048477, 41.8048439, 41.8048401, 41.8048401, 41.8048363,
- 41.8048325, 41.8048286, 41.8048248, 41.804821, 41.804821, 41.8048172,
- 41.8048134, 41.8048096, 41.8048058, 41.8048058, 41.8048019, 41.8047981,
- 41.8047981, 41.8047943, 41.8047905, 41.8047905, 41.8047867, 41.8047829,
- 41.8047791, 41.8047791, 41.8047791, 41.8047752, 41.8047714, 41.8047714,
- 41.8047676, 41.8047638, 41.80476, 41.80476, 41.80476, 41.8047562,
- 41.8047562, 41.8047523, 41.8047485, 41.8047485, 41.8047447, 41.8047447,
- 41.8047409, 41.8047409, 41.8047409, 41.8047371, 41.8047333, 41.8047333,
- 41.8047295, 41.8047295, 41.8047256, 41.8047256, 41.8047218, 41.8047218,
- 41.8047218, 41.804718, 41.804718, 41.8047142, 41.8047142, 41.8047104,
- 41.8047104, 41.8047066, 41.8047066, 41.8047028, 41.8047028, 41.8046989,
- 41.8046989, 41.8046989, 41.8046989, 41.8046951, 41.8046951, 41.8046913,
- 41.8046913, 41.8046875, 41.8046875, 41.8046875, 41.8046837, 41.8046837,
- 41.8046799, 41.8046799, 41.8046799, 41.8046799, 41.8046799, 41.8046761,
- 41.8046761, 41.8046761, 41.8046722, 41.8046722, 41.8046722, 41.8046684,
- 41.8046684, 41.8046646, 41.8046646, 41.8046646, 41.8046646, 41.8046608,
- 41.8046608, 41.8046608, 41.8046608, 41.8046608, 41.804657, 41.804657,
- 41.804657, 41.8046532, 41.8046532, 41.8046494, 41.8046494, 41.8046494,
- 41.8046455, 41.8046455, 41.8046455, 41.8046417, 41.8046417, 41.8046417,
- 41.8046417, 41.8046417, 41.8046379, 41.8046379, 41.8046379, 41.8046341,
- 41.8046341, 41.8046341, 41.8046303, 41.8046303, 41.8046265, 41.8046265,
- 41.8046265, 41.8046227, 41.8046227, 41.8046227, 41.8046227, 41.8046227,
- 41.8046188, 41.8046188, 41.8046188, 41.804615, 41.804615, 41.804615,
- 41.8046112, 41.8046112, 41.8046112, 41.8046074, 41.8046074, 41.8046074,
- 41.8046074, 41.8046036, 41.8046036, 41.8046036, 41.8045998, 41.8045998,
- 41.8045998, 41.8045998, 41.8045998, 41.8045998, 41.8045998, 41.8045959,
- 41.8045959, 41.8045959, 41.8045959, 41.8045921, 41.8045921, 41.8045921,
- 41.8045921, 41.8045921, 41.8045883, 41.8045883, 41.8045883, 41.8045883,
- 41.8045883, 41.8045883, 41.8045883, 41.8045845, 41.8045845, 41.8045845,
- 41.8045845, 41.8045845, 41.8045845, 41.8045845, 41.8045845, 41.8045807,
- 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807,
- 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807,
- 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807,
- 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045807, 41.8045769,
- 41.8045769, 41.8045769, 41.8045769, 41.8045769, 41.8045769, 41.8045769,
- 41.8045769, 41.8045769, 41.8045769, 41.8045769, 41.8045769, 41.8045769,
- 41.8045769, 41.8045769, 41.8045731, 41.8045731, 41.8045731, 41.8045731,
- 41.8045731, 41.8045731, 41.8045692, 41.8045692, 41.8045692, 41.8045692,
- 41.8045692, 41.8045692, 41.8045692, 41.8045692, 41.8045692, 41.8045654,
- 41.8045654, 41.8045654, 41.8045654, 41.8045654, 41.8045616, 41.8045616,
- 41.8045616, 41.8045616, 41.8045616, 41.8045616, 41.8045616, 41.8045616,
- 41.8045616, 41.8045616, 41.8045616, 41.8045616, 41.8045616, 41.8045616,
- 41.8045578, 41.8045578, 41.8045578, 41.8045578, 41.804554, 41.804554,
- 41.804554, 41.804554, 41.804554, 41.804554, 41.804554, 41.8045502,
- 41.8045502, 41.8045502, 41.8045502, 41.8045464, 41.8045464, 41.8045464,
- 41.8045464, 41.8045425, 41.8045425, 41.8045425, 41.8045425, 41.8045425,
- 41.8045425, 41.8045425, 41.8045425, 41.8045425, 41.8045425, 41.8045425,
- 41.8045387, 41.8045387, 41.8045387, 41.8045387, 41.8045387, 41.8045349,
- 41.8045349, 41.8045349, 41.8045311, 41.8045311, 41.8045311, 41.8045311,
- 41.8045311, 41.8045273, 41.8045273, 41.8045273, 41.8045273, 41.8045235,
- 41.8045235, 41.8045235, 41.8045235, 41.8045235, 41.8045235, 41.8045197,
- 41.8045197, 41.8045197, 41.8045197, 41.8045158, 41.8045158, 41.8045158,
- 41.8045158, 41.8045158, 41.804512, 41.804512, 41.804512, 41.804512,
- 41.8045082, 41.8045082, 41.8045082, 41.8045082, 41.8045082, 41.8045082,
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- 41.8033447, 41.8033447, 41.8033447, 41.8033409, 41.8033409, 41.8033409,
- 41.8033409, 41.8033371, 41.8033371, 41.8033371, 41.8033371, 41.8033333,
- 41.8033333, 41.8033333, 41.8033295, 41.8033295, 41.8033295, 41.8033295,
- 41.8033295, 41.8033295, 41.8033295, 41.8033257, 41.8033257, 41.8033257,
- 41.8033257, 41.8033218, 41.8033218, 41.8033218, 41.8033218, 41.803318,
- 41.803318, 41.803318, 41.8033142, 41.8033142, 41.8033142, 41.8033142,
- 41.8033104, 41.8033104, 41.8033104, 41.8033104, 41.8033104, 41.8033104,
- 41.8033104, 41.8033104, 41.8033066, 41.8033066, 41.8033066, 41.8033028,
- 41.8033028, 41.8033028, 41.8033028, 41.803299, 41.803299, 41.803299,
- 41.8032951, 41.8032951, 41.8032951, 41.8032913, 41.8032913, 41.8032913,
- 41.8032913, 41.8032913, 41.8032913, 41.8032913, 41.8032875, 41.8032875,
- 41.8032837, 41.8032837, 41.8032837, 41.8032837, 41.8032799, 41.8032799,
- 41.8032761, 41.8032761, 41.8032761, 41.8032722, 41.8032722, 41.8032722,
- 41.8032722, 41.8032722, 41.8032684, 41.8032684, 41.8032646, 41.8032646,
- 41.8032646, 41.8032608, 41.8032608, 41.803257, 41.803257, 41.8032532,
- 41.8032532, 41.8032532, 41.8032494, 41.8032494, 41.8032494, 41.8032494,
- 41.8032455, 41.8032455, 41.8032417, 41.8032417, 41.8032379, 41.8032379,
- 41.8032379, 41.8032341, 41.8032341, 41.8032303, 41.8032303, 41.8032303,
- 41.8032303, 41.8032303, 41.8032265, 41.8032265, 41.8032227, 41.8032227,
- 41.8032188, 41.8032188, 41.8032188, 41.803215, 41.803215, 41.803215,
- 41.8032112, 41.8032112, 41.8032112, 41.8032112, 41.8032112, 41.8032112,
- 41.8032112, 41.8032074, 41.8032074, 41.8032074, 41.8032074, 41.8032074,
- 41.8032074, 41.8032036, 41.8032036, 41.8032036, 41.8032036, 41.8032036,
- 41.8032036, 41.8032036, 41.8032036, 41.8031998, 41.8031998, 41.8031998,
- 41.8031998, 41.8031998, 41.8031998, 41.8031998, 41.8031998, 41.8031998,
- 41.8031998, 41.8031998, 41.8031998, 41.803196, 41.803196, 41.803196,
- 41.803196, 41.803196, 41.803196, 41.803196, 41.803196, 41.8031921,
- 41.8031921, 41.8031921, 41.8031921, 41.8031921, 41.8031921, 41.8031921,
- 41.8031921, 41.8031921, 41.8031921, 41.8031921, 41.8031921, 41.8031921,
- 41.8031883, 41.8031883, 41.8031883, 41.8031883, 41.8031883, 41.8031883,
- 41.8031883, 41.8031845, 41.8031845, 41.8031845, 41.8031845, 41.8031845,
- 41.8031807, 41.8031807, 41.8031807, 41.8031769, 41.8031769, 41.8031769,
- 41.8031769, 41.8031731, 41.8031731, 41.8031731, 41.8031731, 41.8031731,
- 41.8031731, 41.8031731, 41.8031731, 41.8031731, 41.8031731, 41.8031731,
- 41.8031693, 41.8031693, 41.8031693, 41.8031693, 41.8031693, 41.8031654,
- 41.8031654, 41.8031654, 41.8031616, 41.8031616, 41.8031616, 41.8031616,
- 41.8031578, 41.8031578, 41.8031578, 41.8031578, 41.8031578, 41.803154,
- 41.803154, 41.803154, 41.803154, 41.8031502, 41.8031502, 41.8031502,
- 41.8031502, 41.8031502, 41.8031502, 41.8031502, 41.8031502, 41.8031464,
- 41.8031464, 41.8031464, 41.8031464, 41.8031425, 41.8031425, 41.8031425,
- 41.8031425, 41.8031425, 41.8031387, 41.8031387, 41.8031387, 41.8031387,
- 41.8031349, 41.8031349, 41.8031349, 41.8031349, 41.8031349, 41.8031311,
- 41.8031311, 41.8031311, 41.8031311, 41.8031311, 41.8031311, 41.8031273,
- 41.8031273, 41.8031273, 41.8031235, 41.8031235, 41.8031235, 41.8031197,
- 41.8031197, 41.8031158, 41.8031158, 41.8031158, 41.803112, 41.803112,
- 41.803112, 41.803112, 41.8031082, 41.8031082, 41.8031082, 41.8031044,
- 41.8031044, 41.8031044, 41.8031006, 41.8031006, 41.8030968, 41.8030968,
- 41.803093, 41.803093, 41.803093, 41.803093, 41.8030891, 41.8030891,
- 41.8030853, 41.8030853, 41.8030815, 41.8030815, 41.8030777, 41.8030777,
- 41.8030739, 41.8030739, 41.8030739, 41.8030739, 41.8030739, 41.8030701,
- 41.8030701, 41.8030663, 41.8030663, 41.8030663, 41.8030624, 41.8030624,
- 41.8030586, 41.8030586, 41.8030548, 41.8030548, 41.803051, 41.803051,
- 41.803051, 41.803051, 41.803051, 41.8030472, 41.8030472, 41.8030472,
- 41.8030434, 41.8030434, 41.8030434, 41.8030396, 41.8030396, 41.8030357,
- 41.8030357, 41.8030357, 41.8030319, 41.8030319, 41.8030319, 41.8030319,
- 41.8030319, 41.8030281, 41.8030281, 41.8030281, 41.8030243, 41.8030243,
- 41.8030243, 41.8030205, 41.8030205, 41.8030205, 41.8030167, 41.8030167,
- 41.8030167, 41.8030128, 41.8030128, 41.8030128, 41.8030128, 41.8030128,
- 41.803009, 41.803009, 41.8030052, 41.8030052, 41.8030052, 41.8030014,
- 41.8030014, 41.8030014, 41.8029976, 41.8029976, 41.8029938, 41.8029938,
- 41.8029938, 41.8029938, 41.80299, 41.80299, 41.80299, 41.8029861,
- 41.8029861, 41.8029861, 41.8029823, 41.8029823, 41.8029823, 41.8029785,
- 41.8029785, 41.8029785, 41.8029747, 41.8029747, 41.8029747, 41.8029747,
- 41.8029747, 41.8029747, 41.8029709, 41.8029709, 41.8029709, 41.8029671,
- 41.8029671, 41.8029671, 41.8029671, 41.8029633, 41.8029633, 41.8029633,
- 41.8029594, 41.8029594, 41.8029594, 41.8029594, 41.8029556, 41.8029556,
- 41.8029556, 41.8029556, 41.8029518, 41.8029518, 41.8029518, 41.8029518,
- 41.8029518, 41.8029518, 41.8029518, 41.802948, 41.802948, 41.802948,
- 41.8029442, 41.8029442, 41.8029442, 41.8029404, 41.8029404, 41.8029404,
- 41.8029404, 41.8029366, 41.8029366, 41.8029366, 41.8029327, 41.8029327,
- 41.8029327, 41.8029327, 41.8029327, 41.8029327, 41.8029327, 41.8029289,
- 41.8029289, 41.8029289, 41.8029251, 41.8029251, 41.8029251, 41.8029213,
- 41.8029213, 41.8029213, 41.8029175, 41.8029175, 41.8029175, 41.8029137,
- 41.8029137, 41.8029137, 41.8029137, 41.8029137, 41.8029099, 41.8029099,
- 41.8029099, 41.802906, 41.802906, 41.802906, 41.8029022, 41.8029022,
- 41.8029022, 41.8028984, 41.8028984, 41.8028984, 41.8028984, 41.8028946,
- 41.8028946, 41.8028946, 41.8028946, 41.8028946, 41.8028946, 41.8028946,
- 41.8028946, 41.8028908, 41.8028908, 41.8028908, 41.8028908, 41.802887,
- 41.802887, 41.802887, 41.8028831, 41.8028831, 41.8028831, 41.8028831,
- 41.8028831, 41.8028831, 41.8028831, 41.8028793, 41.8028793, 41.8028793,
- 41.8028793, 41.8028793, 41.8028755, 41.8028755, 41.8028717, 41.8028717,
- 41.8028717, 41.8028717, 41.8028717, 41.8028717, 41.8028717, 41.8028717,
- 41.8028717, 41.8028717, 41.8028679, 41.8028679, 41.8028679, 41.8028679,
- 41.8028679, 41.8028679, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641, 41.8028641,
- 41.8028641, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028603, 41.8028603, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603,
- 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028603, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564,
- 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028564, 41.8028526,
- 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526, 41.8028526,
- 41.8028526, 41.8028526,
-};
-
-const float GPS_DATA_LON[3230] = {
- 14.0542908, 14.0542908, 14.0542908, 14.0542908, 14.0542898, 14.0542898,
- 14.0542879, 14.0542879, 14.0542879, 14.054286, 14.054286, 14.054285,
- 14.054285, 14.0542831, 14.0542812, 14.0542812, 14.0542803, 14.0542784,
- 14.0542765, 14.0542755, 14.0542736, 14.0542717, 14.0542707, 14.0542688,
- 14.0542669, 14.0542641, 14.0542622, 14.0542593, 14.0542564, 14.0542545,
- 14.0542526, 14.0542517, 14.0542498, 14.0542479, 14.0542459, 14.0542459,
- 14.0542459, 14.0542402, 14.0542364, 14.0542336, 14.0542307, 14.0542307,
- 14.0542269, 14.0542269, 14.0542269, 14.0542269, 14.0542269, 14.0542259,
- 14.054224, 14.054224, 14.0542221, 14.0542212, 14.0542212, 14.0542192,
- 14.0542173, 14.0542164, 14.0542145, 14.0542145, 14.0542145, 14.0542145,
- 14.0542145, 14.0542145, 14.0542145, 14.0542145, 14.0542145, 14.0542126,
- 14.0542126, 14.0542116, 14.0542116, 14.0542097, 14.0542078, 14.0542078,
- 14.0542068, 14.0542049, 14.054203, 14.054203, 14.0542002, 14.0542002,
- 14.0541983, 14.0541964, 14.0541964, 14.0541935, 14.0541916, 14.0541906,
- 14.0541887, 14.0541868, 14.0541859, 14.0541859, 14.054184, 14.0541821,
- 14.0541821, 14.0541811, 14.0541811, 14.0541821, 14.0541811, 14.054184,
- 14.0541859, 14.0541868, 14.0541887, 14.0541906, 14.0541916, 14.0541935,
- 14.0541964, 14.0542011, 14.0542049, 14.0542097, 14.0542164, 14.0542212,
- 14.054224, 14.0542288, 14.0542336, 14.0542364, 14.0542412, 14.0542459,
- 14.0542517, 14.0542564, 14.0542612, 14.054266, 14.0542707, 14.0542755,
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- 14.0635052, 14.0635052, 14.0635052, 14.0635052, 14.0635052, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.0635071, 14.063509,
- 14.063509, 14.063509, 14.0635071, 14.0635071, 14.0635071, 14.0635071,
- 14.0635071, 14.0635071, 14.0635071, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.0635071, 14.0635071, 14.0635071, 14.0635071, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.0635071, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.063509,
- 14.063509, 14.063509, 14.063509, 14.063509, 14.063509, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099, 14.0635099,
- 14.0635099, 14.0635118, 14.0635118, 14.0635118, 14.0635118, 14.0635118,
- 14.0635118, 14.0635118, 14.0635118, 14.0635138, 14.0635138, 14.0635138,
- 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138,
- 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138,
- 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138, 14.0635138,
- 14.0635138, 14.0635138, 14.0635157, 14.0635157, 14.0635157, 14.0635157,
- 14.0635157, 14.0635157, 14.0635157, 14.0635157, 14.0635166, 14.0635166,
- 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166,
- 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166,
- 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166, 14.0635166,
- 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185,
- 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185,
- 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185,
- 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185,
- 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185, 14.0635185,
- 14.0635185, 14.0635185, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635204, 14.0635214,
- 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214,
- 14.0635214, 14.0635214, 14.0635204, 14.0635204, 14.0635204, 14.0635204,
- 14.0635204, 14.0635204, 14.0635204, 14.0635214, 14.0635214, 14.0635214,
- 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214,
- 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214,
- 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635214,
- 14.0635214, 14.0635214, 14.0635214, 14.0635214, 14.0635233, 14.0635233,
- 14.0635233, 14.0635233, 14.0635233, 14.0635233, 14.0635233, 14.0635233,
- 14.0635233, 14.0635233, 14.0635233, 14.0635233, 14.0635233, 14.0635233,
- 14.0635233, 14.0635252, 14.0635252, 14.0635252, 14.0635252, 14.0635252,
- 14.0635252, 14.0635252, 14.0635252, 14.0635252, 14.0635252, 14.0635252,
- 14.0635262, 14.0635262, 14.0635262, 14.0635262, 14.0635262, 14.0635262,
- 14.0635262, 14.0635262, 14.0635262, 14.0635262, 14.0635281, 14.0635281,
- 14.0635281, 14.0635281, 14.0635281, 14.0635281, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.0635309, 14.0635309, 14.0635309, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309,
- 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.0635309, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.06353, 14.06353, 14.06353, 14.06353, 14.06353,
- 14.06353, 14.0635281, 14.0635281, 14.0635281, 14.0635281, 14.0635281,
- 14.0635281, 14.0635281, 14.0635281, 14.0635281, 14.0635281, 14.0635281,
- 14.0635281, 14.0635281,
-};
-
-const float GPS_DATA_VNORD[3230] = {
- 0.351999998,
- 0.148000002,
- 0.416000009,
- 0.93900001,
- 0.730000019,
- 1.02699995,
- 0.666000009,
- -0.231000006,
- -1.16999996,
- -2.30699992,
- -3.20600009,
- -3.00200009,
- -3.70700002,
- -4.22700024,
- -4.67199993,
- -5.57399988,
- -5.45200014,
- -5.48999977,
- -5.64799976,
- -6.33300018,
- -6.73199987,
- -7.62200022,
- -8.29199982,
- -8.40400028,
- -9.70100021,
- -10.507,
- -11.7489996,
- -12.0839996,
- -12.5909996,
- -12.6820002,
- -11.7309999,
- -11.9650002,
- -12.0939999,
- -13.6719999,
- -15.0109997,
- -15.0109997,
- -15.0109997,
- -14.8500004,
- -15.4840002,
- -15.2959995,
- -17.5100002,
- -16.7810001,
- -16.1110001,
- -19.118,
- -19.1270008,
- -19.5230007,
- -20.0550003,
- -20.7089996,
- -20.9389992,
- -21.2119999,
- -21.5429993,
- -22.3339996,
- -22.5639992,
- -23.4220009,
- -23.0650005,
- -23.2950001,
- -22.4379997,
- -21.3029995,
- -24.0820007,
- -25.4619999,
- -25.5200005,
- -25.8449993,
- -26.3719997,
- -26.8829994,
- -27.6389999,
- -28.3600006,
- -29.3729992,
- -31.7099991,
- -33.6010017,
- -34.3619995,
- -35.3660011,
- -33.8919983,
- -36.1969986,
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- -40.9700012,
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- -41.3740005,
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- -41.6889992,
- -41.4199982,
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- -41.5540009,
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- -42.7929993,
- -41.257,
- -41.098999,
- -40.2929993,
- -39.7179985,
- -39.9920006,
- -38.5600014,
- -38.9049988,
- -38.8969994,
- -37.618,
- -38.0940018,
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- -36.1969986,
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- -33.6529999,
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- -26.1350002,
- -26.2299995,
- -26.0359993,
- -25.4969997,
- -25.5699997,
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- -25.2299995,
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- -25.1720009,
- -25.2049999,
- -25.0540009,
- -25.2329998,
- -25.1000004,
- -25.2369995,
- -25.4580002,
- -25.4519997,
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- -25.3729992,
- -25.2730007,
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- -25.7280006,
- -25.3500004,
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- -25.1259995,
- -24.9729996,
- -24.7450008,
- -24.2549992,
- -24.3139992,
- -24.4720001,
- -24.7630005,
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- -23.573,
- -24.1159992,
- -24.1599998,
- -24.2220001,
- -23.9729996,
- -23.7670002,
- -23.7339993,
- -23.5450001,
- -23.4020004,
- -23.4820004,
- -23.9060001,
- -23.6959991,
- -23.7159996,
- -23.6879997,
- -23.698,
- -23.6170006,
- -23.3279991,
- -23.2590008,
- -23.0960007,
- -22.8899994,
- -22.868,
- -22.698,
- -23.0669994,
- -22.9610004,
- -23.1200008,
- -22.9799995,
- -22.9039993,
- -23.118,
- -23.2870007,
- -23.1669998,
- -23.2210007,
- -23.4470005,
- -23.1030006,
- -22.9179993,
- -22.9309998,
- -22.8889999,
- -22.9470005,
- -22.7229996,
- -22.8719997,
- -22.8859997,
- -22.9960003,
- -23.2439995,
- -23.0319996,
- -23.1350002,
- -23.0809994,
- -23.2019997,
- -23.0149994,
- -22.9899998,
- -22.9400005,
- -22.7810001,
- -22.5709991,
- -22.6569996,
- -23.0300007,
- -22.7900009,
- -22.5699997,
- -22.3059998,
- -22.2070007,
- -22.1119995,
- -22.2619991,
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- -22.0349998,
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- -21.9190006,
- -22.0090008,
- -22.1159992,
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- -22.1410007,
- -21.9680004,
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- -21.1410007,
- -21.1280003,
- -21.0680008,
- -20.9790001,
- -21.2600002,
- -21.2670002,
- -20.9710007,
- -21.2140007,
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- -21.0030003,
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- -21.184,
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- -21.0559998,
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- -21.2929993,
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- -21.1509991,
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- -21.2150002,
- -21.2159996,
- -20.8719997,
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- -21.573,
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- -20.7649994,
- -20.6940002,
- -20.7259998,
- -20.7959995,
- -20.868,
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- -20.816,
- -20.9659996,
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- -19.9309998,
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- -19.9650002,
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- -19.8120003,
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- -19.6229992,
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- -19.7140007,
- -19.6849995,
- -19.7110004,
- -19.4389992,
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- 0.192000002,
- 0.280000001,
- -0.181999996,
- -0.133000001,
- -0.0120000001,
- 0.169,
- 0.0189999994,
- -0.0610000007,
- -0.0729999989,
- -0.0500000007,
- -0.0790000036,
- -0.104999997,
- -0.0399999991,
- -0.0829999968,
- -0.109999999,
- 0.0920000002,
- 0.0939999968,
- 0.0460000001,
- -0.116999999,
- -0.00400000019,
- -0.0340000018,
- -0.123999998,
- -0.181999996,
- 0.307999998,
- -0.128000006,
- 0.00800000038,
- -0.199000001,
- 0.0469999984,
- 0.245000005,
- -0.063000001,
- -0.0469999984,
- 0.0439999998,
- 0.143999994,
- 0.108999997,
- 0.171000004,
- 0.00400000019,
- 0.170000002,
- 0.201000005,
- 0.101000004,
- -0.050999999,
- 0,
- 0.00899999961,
- 0.170000002,
- 0.499000013,
- 0.219999999,
- 0.122000001,
- -0.0820000023,
- 0.202000007,
- 0.216000006,
- 0.324999988,
- 0.261999995,
- 0.324999988,
- 0.104999997,
- 0.131999999,
- 0.351999998,
- 0.398000002,
- 0.147,
- 0.101000004,
- -0.165000007,
- 0.229000002,
- 0.144999996,
- 0.0989999995,
- -0.0820000023,
- -0.277999997,
- -0.145999998,
- 0.122000001,
- 0.252000004,
- 0.171000004,
- -0.0379999988,
- -0.216999993,
- -0.0780000016,
- 0.167999998,
- 0.115000002,
- 0.135000005,
- -0.115000002,
- -0.0419999994,
- 0.131999999,
- -0.0839999989,
- 0.134000003,
- 0.0820000023,
- 0.0939999968,
- 0.202999994,
- 0.126000002,
- 0.163000003,
- 0.143999994,
- 0.188999996,
- 0.291000009,
- 0.312000006,
- 0.115000002,
- 0.0460000001,
- -0.075000003,
- -0.00300000003,
- -0.232999995,
- 0.127000004,
- 0.136000007,
- -0.107000001,
- -0.0109999999,
- 0.0130000003,
- 0.0399999991,
- 0.231999993,
- 0.0970000029,
- -0.133000001,
- 0.293000013,
- 0.298000008,
- 0.218999997,
- 0.236000001,
- 0.344999999,
- 0.270999998,
- 0.372999996,
- 0.208000004,
- 0.232999995,
- 0.187000006,
- 0.150000006,
- 0.245000005,
- 0.0179999992,
- -0.00899999961,
- 0.0930000022,
- 0.0689999983,
- 0.0649999976,
- 0.0989999995,
- 0.293000013,
- 0.291999996,
- 0.159999996,
- 0.131999999,
- 0.237000003,
- 0.32100001,
- 0.280999988,
- 0.0719999969,
- 0.197999999,
- 0.149000004,
- 0.116999999,
- -0.00700000022,
- 0.0860000029,
- 0.280999988,
- 0.175999999,
- 0.367000014,
- 0.00899999961,
- -0.111000001,
- 0.123000003,
- 0.075000003,
- 0.0500000007,
- 0.0500000007,
- 0.0500000007,
- 0.00300000003,
- 0.0309999995,
- 0.173999995,
- -0.0209999997,
- 0.0710000023,
- 0.0729999989,
- 0.172999993,
- 0.140000001,
- 0.0460000001,
- 0.180999994,
- 0.238000005,
- 0.248999998,
- -0.125,
- 0.0869999975,
- 0.254000008,
- 0.30399999,
- 0.233999997,
- 0.233999997,
- 0.301999986,
- 0.279000014,
- 0.209000006,
- 0.184,
- 0.0890000015,
- 0.122000001,
- 0.256999999,
- 0.202000007,
- 0.335000008,
- -0.0869999975,
- 0.0170000009,
- -0.0839999989,
- 0.0419999994,
- 0.0930000022,
- -0.0179999992,
- -0.0939999968,
- -0.266000003,
- -0.189999998,
- -0.0829999968,
- -0.201000005,
- -0.0989999995,
- -0.0500000007,
- 0.0860000029,
- -0.0769999996,
- -0.0700000003,
- 0.127000004,
- 0.00600000005,
- 0.209000006,
- -0.00300000003,
- -0.0130000003,
- -0.00499999989,
- -0.0199999996,
- 0.143000007,
- 0.170000002,
- 0.127000004,
- 0.0769999996,
- 0.163000003,
- 0.104000002,
- -0.0399999991,
- 0.0170000009,
- -0.159999996,
- -0.100000001,
- -0.0689999983,
- -0.0540000014,
- 0.0480000004,
- 0.134000003,
- -0.00100000005,
- -0.00100000005,
- -0.00100000005,
- -0.0540000014,
- 0.0309999995,
- 0.064000003,
- -0.0370000005,
- 0.230000004,
- 0.0450000018,
- 0.00899999961,
- -0.142000005,
- 0.133000001,
- 0.119999997,
- 0.123999998,
- 0.050999999,
- -0.0299999993,
- -0.023,
- 0.108999997,
- 0.238000005,
- 0.0240000002,
- 0.210999995,
- 0.118000001,
- 0.159999996,
- -0.0299999993,
- 0.0489999987,
- 0.0560000017,
- -0.0419999994,
- -0.0379999988,
- -0.0270000007,
- 0.108999997,
- 0.128999993,
- 0.064000003,
- -0.0989999995,
- 0.0489999987,
- -0.0160000008,
- -0.064000003,
- 0.0869999975,
- 0.0359999985,
- -0.120999999,
- -0.0170000009,
- 0.0289999992,
- 0.0450000018,
- -0.0189999994,
- -0.0960000008,
- 0.0350000001,
- -0.0520000011,
- 0.111000001,
- 0.00400000019,
- -0.138999999,
- -0.128999993,
- 0.188999996,
- 0.137999997,
- 0.064000003,
- -0.0390000008,
- -0.0450000018,
- 0.0320000015,
- -0.0299999993,
- -0.123999998,
- -0.111000001,
- 0.0829999968,
- 0.239999995,
- 0.0790000036,
- -0.0109999999,
- 0.0680000037,
- 0.213,
- 0.209000006,
- 0.188999996,
- 0.0410000011,
- 0.145999998,
- 0.050999999,
- 0.0109999999,
- 0.0599999987,
- 0.141000003,
- 0.0850000009,
- 0.0540000014,
- 0.0979999974,
- 0.0769999996,
- 0.0610000007,
- 0.0170000009,
- -0.023,
- 0.00200000009,
- 0.230000004,
- 0.175999999,
- 0.0900000036,
- 0.0399999991,
- -0.0109999999,
- 0.074000001,
- 0.0920000002,
- 0.063000001,
- 0.0780000016,
- 0.116999999,
- 0.187999994,
- -0.0199999996,
- -0.120999999,
- 0.0759999976,
- 0.252000004,
- 0.192000002,
- 0.0979999974,
- 0.187000006,
- 0.158000007,
- -0.0560000017,
- -0.061999999,
- 0.331999987,
- 0.246999994,
- -0.00100000005,
- 0.286000013,
- -0.0780000016,
- 0.149000004,
- 0.130999997,
- 0.233999997,
- 0.175999999,
- 0.377999991,
- 0.453000009,
- 0.44600001,
- 0.303000003,
- 0.0549999997,
- 0.218999997,
- 0.147,
- 0.101000004,
- 0.111000001,
- 0.075000003,
- 0.179000005,
- 0.159999996,
- 0.330000013,
- 0.270999998,
- 0.294,
- 0.0649999976,
- 0.074000001,
- -0.0820000023,
- -0.0590000004,
- -0.0500000007,
- 0.111000001,
- 0.216999993,
- 0.261000007,
- 0.114,
- 0.0599999987,
- -0.0160000008,
- 0.291999996,
- 0.238000005,
- 0.303000003,
- 0.393000007,
- 0.0540000014,
- 0.0379999988,
- -0.140000001,
- -0.143000007,
- -0.0250000004,
- -0.187000006,
- -0.116999999,
- -0.328000009,
- -0.0649999976,
- -0.123000003,
- -0.247999996,
- -0.261000007,
- -0.108999997,
- -0.171000004,
- -0.194000006,
- -0.312000006,
- -0.333999991,
- -0.330000013,
- -0.107000001,
- -0.138999999,
- -0.0340000018,
- 0.143999994,
- -0.231999993,
- -0.0700000003,
- -0.0199999996,
- 0.160999998,
- 0.344999999,
- 0.0320000015,
- -0.00899999961,
- 0.0379999988,
- 0.0649999976,
- -0.236000001,
- -0.216999993,
- -0.109999999,
- -0.0469999984,
- 0.0949999988,
- -0.0810000002,
- 0.165999994,
- 0.187999994,
- 0.0769999996,
- -0.134000003,
- -0.149000004,
- 0.175999999,
- 0.0450000018,
- 0.0109999999,
- -0.0689999983,
- 0.157000005,
- -0.123999998,
- 0.0810000002,
- -0.00300000003,
- 0.0599999987,
- -0.0209999997,
- 0.0149999997,
- -0.0179999992,
- 0.0920000002,
- 0.0829999968,
- 0.0399999991,
- 0.115000002,
- 0.150000006,
- 0.0480000004,
- 0.32100001,
- 0.381999999,
- 0.0500000007,
-};
-
-const uint8_t GPS_DATA_NSATS[3230] = {
- 16, 16, 16, 16, 16, 16, 16, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 16, 16, 16, 16, 16, 16, 16, 16, 15, 15, 15, 14,
- 14, 13, 13, 12, 12, 12, 13, 13, 13, 13, 13, 14, 13, 13, 14, 15, 14, 14, 14,
- 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 13, 13, 13, 13,
- 13, 13, 14, 14, 14, 14, 14, 14, 13, 12, 12, 12, 11, 11, 11, 12, 13, 13, 12,
- 9, 8, 8, 8, 8, 8, 8, 9, 9, 9, 10, 10, 10, 10, 10, 10, 10, 11, 11,
- 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 11, 11, 8, 8, 8, 8, 10, 10, 10,
- 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 11, 11, 11, 10, 11, 11, 11, 11, 11,
- 11, 11, 11, 10, 11, 11, 11, 10, 10, 10, 11, 12, 12, 11, 11, 11, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 11, 11, 10, 10, 9, 10, 10, 9, 8, 8, 8,
- 8, 9, 9, 8, 8, 8, 8, 9, 9, 10, 10, 10, 10, 10, 10, 9, 10, 11, 11,
- 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 12, 12, 12, 11, 12, 12,
- 12, 12, 12, 13, 13, 13, 13, 13, 13, 13, 13, 13, 12, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12, 12, 10, 10, 9, 9,
- 9, 9, 10, 11, 11, 11, 10, 11, 11, 10, 10, 10, 11, 12, 12, 12, 12, 13, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13, 12, 12, 13, 13, 13, 13,
- 13, 12, 13, 13, 13, 14, 14, 15, 15, 15, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 15, 15, 16, 16, 16, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14,
- 13, 13, 14, 13, 13, 12, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 12, 13, 13, 12, 14, 14, 14, 14, 14, 14, 14, 13, 14, 14, 12,
- 12, 12, 12, 12, 12, 13, 12, 11, 11, 11, 12, 12, 12, 12, 10, 11, 11, 11, 11,
- 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13, 13, 14, 14,
- 14, 15, 15, 16, 16, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 13, 11, 11,
- 11, 11, 11, 12, 12, 12, 12, 11, 11, 11, 10, 10, 9, 9, 9, 9, 11, 13, 14,
- 12, 13, 13, 13, 14, 14, 10, 10, 11, 11, 11, 15, 16, 15, 15, 14, 15, 14, 14,
- 14, 14, 15, 15, 15, 15, 16, 16, 16, 16, 16, 13, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 14, 14, 15,
- 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 14, 14, 12, 12, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 11, 11, 11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 12, 11,
- 11, 11, 13, 13, 13, 12, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 14,
- 13, 13, 13, 12, 12, 12, 12, 12, 12, 12, 12, 12, 11, 11, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13, 13, 12, 12, 13, 13,
- 13, 13, 13, 13, 13, 13, 12, 11, 11, 11, 9, 12, 12, 13, 12, 10, 10, 11, 12,
- 12, 14, 14, 14, 15, 14, 14, 14, 14, 12, 13, 13, 13, 13, 13, 14, 14, 14, 13,
- 13, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 14,
- 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 13, 13, 14, 14, 14, 14, 14, 14, 14,
- 13, 13, 11, 13, 13, 13, 14, 13, 13, 14, 14, 13, 13, 12, 12, 11, 11, 12, 12,
- 12, 12, 12, 13, 13, 13, 13, 13, 12, 13, 13, 13, 13, 13, 13, 12, 12, 12, 11,
- 12, 12, 13, 13, 13, 13, 13, 13, 12, 13, 13, 13, 14, 13, 12, 13, 13, 13, 13,
- 13, 13, 12, 12, 12, 12, 13, 13, 13, 13, 14, 12, 12, 14, 14, 13, 14, 14, 14,
- 14, 14, 13, 13, 14, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12, 12, 13, 13, 13,
- 13, 12, 12, 13, 13, 13, 13, 13, 14, 13, 14, 12, 12, 13, 13, 13, 12, 13, 13,
- 13, 13, 13, 13, 13, 12, 13, 14, 15, 15, 14, 13, 14, 15, 15, 15, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 15, 14, 13, 13, 12, 13, 13, 13,
- 13, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 14, 14,
- 15, 15, 15, 15, 15, 15, 14, 15, 15, 15, 15, 15, 15, 15, 15, 15, 16, 16, 15,
- 15, 15, 15, 16, 16, 16, 16, 16, 16, 16, 14, 14, 14, 13, 13, 13, 13, 13, 15,
- 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 14, 15, 14, 15, 15, 15, 14, 13, 13,
- 13, 13, 12, 12, 12, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 12, 13, 13, 12,
- 13, 14, 14, 13, 12, 11, 12, 12, 12, 12, 12, 13, 13, 12, 12, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 12, 13, 13, 13, 14, 13, 12, 13, 13, 13, 13, 13, 13,
- 13, 14, 14, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 12, 13, 13, 13, 13, 13, 13, 13, 13,
- 11, 10, 10, 11, 10, 10, 10, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13,
- 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 13, 14, 14, 14, 14, 14, 13, 13, 13, 14, 13, 12,
- 12, 12, 12, 12, 12, 13, 13, 14, 13, 14, 14, 14, 13, 13, 13, 12, 12, 12, 13,
- 14, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 15, 14, 14, 14, 13, 14, 13, 13,
- 13, 13, 15, 14, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 15, 15, 15,
- 15, 15, 15, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 15, 16, 14, 14, 16, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 13, 13, 14, 15, 15, 16, 15, 16, 15,
- 15, 14, 13, 13, 13, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 14, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14,
- 14, 14, 14, 13, 13, 13, 14, 14, 14, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 13, 13, 14, 13, 13, 14, 13, 13, 13, 13, 13, 14, 14, 14, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 15, 14, 14, 14, 15, 15,
- 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 14, 13, 13, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14,
- 14, 14, 13, 14, 15, 15, 15, 15, 15, 15, 15, 16, 15, 16, 15, 15, 15, 15, 15,
- 15, 16, 15, 16, 16, 15, 15, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 15, 16,
- 16, 16, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 16, 16, 16, 16, 16, 16, 15, 15, 15, 15, 15, 15, 16, 16, 15, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15,
- 14, 14, 15, 15, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 14, 15, 15, 15, 13, 13, 13, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 14, 15, 14, 14, 14, 15, 15, 14, 13, 13, 13, 13, 13, 12, 12,
- 12, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 13, 13, 14, 14, 13, 14, 13, 12, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 14, 15, 16, 16, 16,
- 16, 16, 16, 16, 16, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 14, 14, 14, 14, 13, 14, 14,
- 14, 14, 14, 14, 14, 14, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 14, 14,
- 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 15, 15, 15, 15, 15, 15,
- 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
- 16, 16, 16, 16, 16, 16, 16, 16, 15, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 15, 15, 15, 16, 15, 15, 15, 14, 14, 14, 14, 15, 15,
- 15, 15, 15, 15, 15, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 12, 13, 13, 13, 13, 14, 14, 14, 14, 14, 13, 13, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
- 15, 15, 15, 15, 14, 14, 14, 14, 14, 14, 14, 14, 15, 14, 15, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 15, 15, 15, 15, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15,
- 15, 15, 16, 16, 16, 16, 15, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
- 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 14, 14, 14, 14, 14, 13, 13, 13, 13,
- 13, 14, 14, 14, 14, 13, 14, 13, 13, 13, 13, 12, 13, 13, 13, 13, 14, 14, 13,
- 13, 13, 13, 14, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15,
- 15, 15, 15, 15, 15, 15, 15, 15, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 14, 14,
- 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 14,
- 14, 14, 13, 13, 13, 13, 13, 14, 15, 14, 14, 14, 14, 15, 15, 15, 14, 14, 14,
- 14, 14, 14, 14, 13, 14, 13, 13, 13, 13, 13, 14, 15, 14, 14, 14, 14, 14, 14,
- 13, 14, 13, 13, 13, 13, 13, 14, 13, 14, 14, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,
- 12, 13, 14, 15, 15, 15, 15, 14, 14, 14, 14, 14, 14, 13, 14, 14, 14, 14, 13,
- 13, 14, 14, 15, 15, 15, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
- 14, 14, 15, 16, 15, 15, 15, 15, 15, 14, 13, 14, 14, 14, 14, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 13, 14, 14, 14,
- 14, 14, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12, 12, 12, 12, 12,
- 12, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12,
- 12, 12, 11, 11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 14, 13,
- 13, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 13, 13, 13, 13,
- 13, 13, 15, 14, 14, 14, 14, 13, 13, 13, 15, 15, 14, 14, 15, 15, 15, 15, 14,
- 14, 14, 14, 14, 14, 14, 14, 12, 13, 12, 12, 12, 13, 13, 14, 14, 14, 14, 14,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12,
- 11, 11, 11, 11, 11, 11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 12, 12, 12, 12, 12, 12, 12, 12,
- 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
- 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
-};
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.h b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.h
deleted file mode 100644
index a82162aca..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_gps_data.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <Common.h>
-
-/**
- * Ublox Neo-M9N GPS data from Lynx flight test in Roccaraso.
- * Sampled at 25 Hz (40 ms period).
- */
-static constexpr unsigned GPS_DATA_SIZE = 3230;
-extern const float GPS_DATA_LAT[GPS_DATA_SIZE];
-extern const float GPS_DATA_LON[GPS_DATA_SIZE];
-extern const float GPS_DATA_VNORD[GPS_DATA_SIZE];
-extern const float GPS_DATA_VEAST[GPS_DATA_SIZE];
-extern const float GPS_DATA_VDOWN[GPS_DATA_SIZE];
-extern const uint8_t GPS_DATA_NSATS[GPS_DATA_SIZE];
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.cpp
deleted file mode 100644
index 1bcd87d3c..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.cpp
+++ /dev/null
@@ -1,19421 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "lynx_imu_data.h"
-
-const float ACCEL_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM] = {
- {9.7706089, 0.0505036227, -1.17231905},
- {75.051712, 0.957256854, -0.897318244},
- {72.1530991, 0.702976704, -0.742024541},
- {67.3247223, 1.02599335, 0.031463787},
- {70.7685852, 1.14938974, -0.39391765},
- {71.4871674, 1.0382731, -0.149140865},
- {71.2697906, 2.24065208, -0.558500826},
- {71.6616135, 0.718285263, -1.28442919},
- {73.3524475, 0.89712429, -0.325761735},
- {73.1448441, 0.871322751, -0.736510754},
- {72.9840164, 0.786987901, -1.06586242},
- {72.6989136, 1.21296668, -1.61752141},
- {72.1249847, 1.35529983, -1.23485363},
- {71.6802063, -0.729544878, 0.636282563},
- {73.0008621, 2.1558466, -1.4900341},
- {73.6755981, 1.56671011, -1.52887225},
- {71.5215378, 0.495066375, -3.8517313},
- {72.5661011, -1.15156245, 2.10670543},
- {71.9102859, 2.75893283, -2.81235266},
- {72.6114883, 0.52327311, 0.931658208},
- {72.9401245, 1.74450696, -1.73914695},
- {73.4833069, 0.600096405, 0.46086511},
- {73.627121, 0.91890651, 0.468178928},
- {73.6072693, 0.65073216, 0.593248487},
- {73.7902222, 0.76572305, 0.461609632},
- {73.9439468, 0.788648784, 0.547009885},
- {74.1002731, 0.672277272, 0.49049446},
- {74.255661, 0.598946691, 0.560050547},
- {74.5455246, 0.696001709, 0.687057495},
- {74.7175598, 0.634838998, 0.811056614},
- {74.9134979, 0.619264722, 0.844705939},
- {74.8948975, 0.595154524, 0.863168478},
- {75.1726761, 0.626879454, 0.943907917},
- {75.3604736, 0.759868145, 0.834086716},
- {75.638916, 0.715038896, 0.983938098},
- {75.8006592, 0.683658421, 0.836345553},
- {75.9352875, 0.709865212, 0.777407289},
- {76.2230225, 0.59126091, 0.769218326},
- {76.4927597, 0.532258332, 0.834134698},
- {76.6945038, 0.423687547, 0.81448108},
- {77.0323715, 0.270789891, 0.889968812},
- {77.2938461, 0.272700369, 0.779893279},
- {77.4908829, 0.209396094, 0.936293006},
- {77.8033295, 0.253418565, 0.924213707},
- {78.059082, 0.149939343, 0.880737543},
- {78.3719482, -0.0100329062, 0.813244879},
- {78.7745438, -0.147020459, 0.891011},
- {79.0569, -0.0399472341, 0.983630776},
- {79.4110031, -0.291531891, 0.757455885},
- {79.7106323, -0.270866007, 0.805845439},
- {80.0920639, -0.221901387, 0.770797431},
- {80.333847, -0.1850577, 0.76698488},
- {80.7624741, 0.0204621498, 0.873884022},
- {80.8398972, 0.000708246836, 1.10919869},
- {81.1752014, 0.0334316678, 1.03528631},
- {81.3601837, 0.10570325, 1.07976866},
- {81.4876862, 0.21125105, 1.11350214},
- {81.5111237, 0.302387744, 1.2144022},
- {81.4834595, 0.0692225546, 1.38101101},
- {81.3648758, 0.0828501135, 1.47362125},
- {81.4239578, 0.169557005, 1.55536222},
- {81.131752, 0.226912349, 1.7064867},
- {80.977623, 0.174948126, 2.11504316},
- {80.9268036, 0.355327666, 2.13113713},
- {80.7909088, 0.62750113, 2.02704859},
- {80.640564, 0.766206026, 2.23239326},
- {80.3874283, 0.776954412, 2.369349},
- {80.344429, 0.468313873, 2.3242352},
- {80.2328491, 0.716903627, 2.23460269},
- {79.9205475, 0.676170886, 2.20348406},
- {79.8310928, 0.369558752, 2.06789899},
- {79.6953201, 0.401673853, 1.67641044},
- {79.4943237, 0.19381693, 1.46007204},
- {79.4044266, 0.0387358218, 1.6726402},
- {79.2284698, -0.583195984, 2.21401048},
- {78.9426498, -0.855051756, 2.67963743},
- {78.762207, -1.29367781, 1.93607628},
- {78.7069855, -1.53957188, 1.52394629},
- {78.6626663, -1.73126447, 1.32824492},
- {78.5219803, -1.84331918, 0.805960715},
- {78.3508224, -1.32198119, -0.0401527658},
- {78.1511612, -1.11831701, -0.185470343},
- {78.0072403, -1.11671555, -0.425383151},
- {77.7883606, -0.802353382, -0.503511071},
- {77.7134781, -0.374495029, -0.78892535},
- {77.474968, -0.15855138, -0.611000299},
- {77.279335, 0.425185114, -0.659390092},
- {77.0293961, 0.925296009, -0.422784269},
- {77.0096054, 1.29779482, -0.370541722},
- {76.7065735, 1.60899556, -0.333679199},
- {76.3198776, 1.85412633, -0.292225182},
- {76.0791016, 2.03967476, -0.00408513844},
- {75.7581253, 2.24486327, 0.278031647},
- {75.6265106, 2.37526608, 0.587551475},
- {75.3557434, 2.16005802, 1.04049754},
- {75.0951385, 2.36014128, 1.40408909},
- {74.857254, 1.92436051, 1.45515895},
- {74.6294937, 1.78278971, 1.76744604},
- {74.8337173, 1.54206097, 1.85784125},
- {74.5409622, 1.50999451, 2.0778203},
- {73.9470444, 1.08110249, 2.8541379},
- {73.8226166, 1.00835896, 2.94846678},
- {73.4979095, 1.24556971, 3.07294512},
- {73.069725, 0.848386526, 3.24259448},
- {72.7636871, 0.466367066, 3.15653515},
- {72.6318207, 0.0984425545, 2.26916313},
- {72.2974091, -0.318487376, 2.09836745},
- {72.1057587, -0.643750608, 1.33728027},
- {71.8909531, -0.684333503, 0.616605043},
- {71.7098999, -1.02876484, -0.107153609},
- {71.4926758, -1.17029965, -0.62347126},
- {71.1438065, -1.11382437, -1.05275977},
- {70.9560089, -0.891051471, -1.59658635},
- {70.7279739, -0.89428705, -1.70773125},
- {70.4152451, -0.4075903, -1.93970335},
- {70.2566986, -0.19252111, -1.46071625},
- {69.9983521, -0.518284917, -1.19622302},
- {69.6812515, -0.279706329, -1.18422055},
- {69.3382492, 0.0744639933, -0.580328941},
- {68.9313583, 0.266896307, 0.137920842},
- {68.8928223, 0.67826736, 0.695070565},
- {68.7627869, 0.595903277, 1.68400395},
- {68.1628265, 1.33654451, 2.1639111},
- {67.85466, 0.755240321, 3.01211071},
- {67.6846008, 0.406166464, 3.58772302},
- {67.6248627, 0.146363467, 3.85386777},
- {67.3586807, -0.12844117, 4.0591321},
- {67.1351776, -0.123209752, 3.65338421},
- {67.0844269, -0.303947777, 3.24271107},
- {67.0426788, -0.188347369, 2.83687115},
- {66.9468307, -0.495794773, 2.64494586},
- {66.9843063, -0.438416809, 1.97693992},
- {66.7452316, 0.289508998, 1.50548387},
- {66.6272583, 0.620313048, 0.695219457},
- {66.629631, 1.25616348, -0.104920343},
- {66.7605438, 1.88618267, -0.39390859},
- {66.5896225, 2.11185575, -0.635380268},
- {66.6467514, 2.47455263, -0.525090456},
- {66.7836227, 2.28182054, -0.252768964},
- {66.901886, 2.76147914, -0.239517659},
- {65.3644409, 3.05843854, -0.248748943},
- {62.1886749, 2.79367566, 0.173207983},
- {59.5514832, 1.99698174, -0.0133253215},
- {56.4851265, 1.96902084, 0.109266527},
- {51.5297508, 1.82083631, -0.10500598},
- {46.4091454, 1.99788916, 0.00615235511},
- {41.924736, 1.12737608, -0.00933246315},
- {38.2426605, 0.506041884, 0.358865261},
- {33.2051277, -0.0161319654, 0.506006181},
- {28.9737568, -0.590438664, -0.454962879},
- {26.0372162, -0.941309571, -0.293416172},
- {24.5942497, -1.80034482, -0.878523886},
- {22.8606892, -1.99962175, -0.617118537},
- {22.0657787, -2.48361397, -1.03027737},
- {21.1462059, -2.93858099, -1.52165341},
- {23.7900963, -3.08591986, -0.429949343},
- {18.825798, -2.27027917, -0.872837126},
- {10.97019, -2.44617534, -1.02774656},
- {5.77373171, -0.763253391, 0.697155118},
- {3.50414991, -0.542966843, 1.288252},
- {0.437992066, 0.436067104, 1.15181375},
- {-2.65251064, 0.475801528, 1.82887459},
- {-4.52059841, 0.000553662481, 2.22609186},
- {-5.14936018, -0.0411089584, 2.57726836},
- {-5.19878817, 0.167503893, 2.57928038},
- {-5.25758314, -0.0326092914, 2.78877521},
- {-5.16727638, -0.542966962, 3.00034881},
- {-5.29795599, -0.461360723, 2.5990696},
- {-5.3477416, -0.273561686, 2.296839},
- {-5.49473381, -0.0067019905, 1.63754988},
- {-5.63669729, 0.743922591, 1.00238144},
- {-5.74196863, 0.698354185, 0.859446228},
- {-5.74893808, 1.56061101, 0.282940507},
- {-5.79704714, 1.58337343, 0.386568606},
- {-5.84465551, 1.56779921, -0.00173888565},
- {-5.88006353, 2.33243704, -0.0816933215},
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- {4.77439737, -6.87492037, -5.32069969},
- {4.78345728, -6.86675882, -5.30837011},
- {4.78794003, -6.90536547, -5.33754253},
- {4.79069901, -6.89568615, -5.33788157},
- {4.79478407, -6.9207902, -5.31952763},
- {4.80504942, -6.91854429, -5.32414198},
- {4.82201004, -6.91090584, -5.32458973},
- {4.82424259, -6.90686178, -5.32116461},
- {4.84465551, -6.90033293, -5.3111701},
- {4.84774876, -6.89353466, -5.32295084},
- {4.85411263, -6.89526367, -5.32780695},
- {4.86753511, -6.88170576, -5.30508471},
- {4.83325911, -6.88218069, -5.32142162},
- {4.83307266, -6.86651134, -5.33349514},
- {4.83465624, -6.90491629, -5.34781599},
- {4.8215642, -6.89473295, -5.34751892},
- {4.82575607, -6.88581133, -5.34625578},
- {4.84612751, -6.88181686, -5.33303308},
- {4.8276639, -6.87646341, -5.35079384},
- {4.82806492, -6.89612246, -5.34899759},
- {4.80118227, -6.8909893, -5.33858442},
- {4.81219101, -6.90281868, -5.33218288},
- {4.8347621, -6.9093318, -5.33380079},
- {4.82364702, -6.90057325, -5.34677362},
- {4.82602692, -6.88889265, -5.35287809},
- {4.81580162, -6.89205503, -5.34914255},
- {4.81839848, -6.86519098, -5.34336662},
- {4.81633282, -6.89418173, -5.35685492},
- {4.80400801, -6.86283493, -5.36672449},
- {4.80238533, -6.88639259, -5.34639835},
- {4.78749514, -6.86493206, -5.36255646},
- {4.7773242, -6.88629818, -5.35301304},
- {4.79195786, -6.87930775, -5.36062002},
- {4.78124571, -6.86972475, -5.35436726},
- {4.73557091, -6.87212133, -5.35645199},
- {4.7400341, -6.8894906, -5.35496283},
- {4.7257514, -6.90236998, -5.37029886},
- {4.70462608, -6.90521622, -5.36136484},
- {4.69144249, -6.93097162, -5.36401415},
- {4.68639278, -6.92559958, -5.35795021},
- {4.66935587, -6.91452074, -5.36475039},
- {4.69101, -6.91151476, -5.37570858},
- {4.7154336, -6.87377739, -5.49825382},
- {4.71553516, -6.85284758, -5.53871298},
- {4.68959856, -6.92063999, -5.380126},
- {4.66821575, -6.9974823, -5.21472597},
- {4.65661383, -7.0022378, -5.14060831},
-};
-
-const float GYRO_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM] = {
- {0.0134358415, 0.00595300971, 0.000731654873},
- {0.0463735685, 0.0217599906, 0.0077480115},
- {0.187150612, -0.00544426497, 0.0192549434},
- {0.138911277, -0.00840414315, 0.021566309},
- {0.118940406, -0.0400315821, 0.0142830163},
- {0.0420168974, -0.0521038882, 0.0181907173},
- {-0.114458971, -0.025989553, 0.0108046355},
- {0.0317549482, 0.0247343481, -0.0115206884},
- {-0.0828869566, 0.0332039446, -0.0186711792},
- {-0.141902566, 0.00386180496, -0.0237592775},
- {-0.158656061, 0.00145656988, -0.0318943784},
- {-0.104235962, -0.00570477918, -0.0297004152},
- {-0.185461238, 0.000292573124, 0.034536548},
- {-0.304729015, 0.0536744148, -2.01906078e-05},
- {-0.944312692, 0.0363321193, -0.0400524363},
- {-0.454091966, 0.0101457238, -0.0501786992},
- {-0.396595657, -0.0260738228, -0.0647147745},
- {-0.291883796, -0.0107155051, 0.0370973423},
- {-0.0755134672, 0.0145764705, 0.0838899985},
- {-0.25969097, 0.0311551001, 0.0659644529},
- {-0.149460495, 0.00859020837, 0.0503835306},
- {-0.0215040408, 0.0110013373, 0.0412212163},
- {0.0155216185, 0.00924274884, 0.0334435999},
- {0.0306907296, 0.00880530104, 0.025967503},
- {0.0406699888, 0.00794169307, 0.0202360265},
- {0.058912985, 0.00116430921, 0.0154485237},
- {0.0742928386, -0.00260078884, 0.00927783456},
- {0.0958144441, -0.00835962035, 0.00547258649},
- {0.126862153, -0.0166856479, -6.33625314e-05},
- {0.146294326, -0.019811308, 0.000231918413},
- {0.158898741, -0.0224718694, -0.00457372237},
- {0.158117205, -0.0246169511, -0.00558806211},
- {0.14817889, -0.025425192, -0.0111248549},
- {0.133800417, -0.0238080528, -0.0169619694},
- {0.118369147, -0.0227781534, -0.0229868572},
- {0.102207586, -0.0222970173, -0.0281685796},
- {0.0908881128, -0.0224386137, -0.0354196243},
- {0.0752573013, -0.0241513476, -0.0448313653},
- {0.06326814, -0.0260636285, -0.0477746129},
- {0.0564338192, -0.0285745375, -0.051532656},
- {0.0551700592, -0.0295722447, -0.0529959723},
- {0.057316646, -0.0330843888, -0.0481147394},
- {0.0595106296, -0.0352570564, -0.0462281629},
- {0.0457583144, -0.0360906273, -0.0438170284},
- {0.0348500051, -0.0342614911, -0.0439833105},
- {0.035322655, -0.0358578265, -0.0379562303},
- {0.0425490066, -0.0390338711, -0.0273381639},
- {0.0404575691, -0.0406125076, -0.0192277394},
- {0.0216968488, -0.0418773443, -0.0148501471},
- {0.0307095051, -0.0437064841, -0.00540514803},
- {0.0531081259, -0.0506602302, 0.00930504315},
- {0.0625365004, -0.0555127375, 0.0171763804},
- {0.0653628409, -0.0608671196, 0.0282675978},
- {0.0556141958, -0.0634761974, 0.0348760933},
- {0.0302272737, -0.0627627671, 0.0384941399},
- {-0.000667502172, -0.0634631738, 0.0436182469},
- {-0.0334545858, -0.0660680979, 0.0484192222},
- {-0.0727531388, -0.0690151006, 0.0449626297},
- {-0.122389279, -0.0686658844, 0.0449792594},
- {-0.1727238, -0.0688488111, 0.0475899428},
- {-0.2277309, -0.0632283688, 0.0480887964},
- {-0.290071249, -0.0624301955, 0.0488703325},
- {-0.356635183, -0.0573252439, 0.0489202216},
- {-0.448980391, -0.046113085, 0.0488426238},
- {-0.53529197, -0.0298050437, 0.044413887},
- {-0.608959973, -0.0147278085, 0.0403517112},
- {-0.682903409, -0.000655252486, 0.0292486828},
- {-0.772264957, 0.0165220052, 0.0184068885},
- {-0.85406059, 0.0323357284, 0.0179911759},
- {-0.93208164, 0.0473679081, 0.00325830979},
- {-1.01052046, 0.0659046769, -0.00114371208},
- {-1.08039141, 0.0775819421, -0.00344298268},
- {-1.13518226, 0.0820051208, -0.0100943903},
- {-1.19593167, 0.0786836967, -0.0139237763},
- {-1.26511216, 0.0829967707, -0.0128824394},
- {-1.33553934, 0.106848121, 3.23774293e-05},
- {-1.38853455, 0.124939933, 0.0194544885},
- {-1.40509641, 0.141601726, 0.0506994724},
- {-1.39348018, 0.146866396, 0.0902829021},
- {-1.37384629, 0.148630768, 0.131188467},
- {-1.36510503, 0.137328193, 0.171971262},
- {-1.3488425, 0.113482893, 0.200855017},
- {-1.36003804, 0.0856412053, 0.224294662},
- {-1.39023864, 0.0524900332, 0.242657483},
- {-1.4331156, 0.0174365714, 0.255712479},
- {-1.48283505, -0.0224884991, 0.26016888},
- {-1.5331862, -0.0564605631, 0.25790742},
- {-1.58349264, -0.0953254327, 0.247110978},
- {-1.63034666, -0.127630621, 0.231617719},
- {-1.66556406, -0.155360028, 0.20606184},
- {-1.70505846, -0.179494977, 0.177475289},
- {-1.7432394, -0.20487614, 0.143977895},
- {-1.78176117, -0.219210908, 0.097603485},
- {-1.82429147, -0.23192355, 0.0527979955},
- {-1.85435426, -0.235803157, 0.0110948775},
- {-1.88406444, -0.230178684, -0.0341724902},
- {-1.91632342, -0.218222797, -0.0685103685},
- {-1.959777, -0.197087944, -0.105437778},
- {-2.01325679, -0.177571416, -0.132859513},
- {-2.05673504, -0.156065375, -0.159751058},
- {-2.10397649, -0.127514213, -0.178108945},
- {-2.15286946, -0.0841833204, -0.186738089},
- {-2.19252753, -0.0389131829, -0.199201956},
- {-2.26018524, 0.000791428145, -0.207175598},
- {-2.33265162, 0.0539361723, -0.206360802},
- {-2.3934164, 0.094993487, -0.195800185},
- {-2.45084715, 0.119136587, -0.178075686},
- {-2.4974792, 0.145214945, -0.153028309},
- {-2.53420615, 0.155153975, -0.120590888},
- {-2.56669807, 0.1498162, -0.091058664},
- {-2.59960246, 0.128661707, -0.0539357364},
- {-2.64167643, 0.0999971628, -0.0182922501},
- {-2.69660783, 0.0576166287, 0.0157387685},
- {-2.76293159, 0.0109680817, 0.0394087136},
- {-2.84052014, -0.0404971838, 0.061358355},
- {-2.91149735, -0.0944760293, 0.0704933181},
- {-2.97819233, -0.145537525, 0.0752708912},
- {-3.03381419, -0.186291203, 0.0843797401},
- {-3.08780289, -0.218206167, 0.0827592462},
- {-3.12939095, -0.237861067, 0.0750269815},
- {-3.1663394, -0.251230389, 0.0613749847},
- {-3.20518327, -0.252095073, 0.0469081774},
- {-3.23887897, -0.234029457, 0.0228819735},
- {-3.2844348, -0.207198083, -0.00412475271},
- {-3.34135461, -0.166358441, -0.0122394692},
- {-3.40620375, -0.113159269, -0.0201062709},
- {-3.47314858, -0.0568939969, -0.0114102606},
- {-3.53321457, -0.00847065728, -0.000183794182},
- {-3.58404279, 0.0377349593, 0.0160773825},
- {-3.62488842, 0.0649860948, 0.0371761918},
- {-3.66208506, 0.101244301, 0.0656485111},
- {-3.70584822, 0.112182349, 0.0921211243},
- {-3.73476839, 0.124324679, 0.110030025},
- {-3.75528789, 0.106681831, 0.117479593},
- {-3.77873445, 0.0949254707, 0.128670618},
- {-3.80454683, 0.0688716173, 0.117469013},
- {-3.82942581, 0.030570427, 0.090078488},
- {-3.85371256, -0.0115469322, 0.0680762753},
- {-3.8816483, -0.0456187613, 0.0320256501},
- {-3.90524459, -0.0610832945, 0.0081304675},
- {-3.93143463, -0.0830661729, -0.0424036011},
- {-3.9633112, -0.0922950059, -0.0908092186},
- {-3.9930439, -0.101420537, -0.124626055},
- {-4.02625561, -0.107435562, -0.155088112},
- {-4.05752563, -0.100098319, -0.177337497},
- {-4.09412718, -0.0976494029, -0.199875668},
- {-4.12139797, -0.0995284244, -0.213660702},
- {-4.15315628, -0.0845890269, -0.227575555},
- {-4.17133427, -0.0871502459, -0.219164744},
- {-4.18395472, -0.0686991438, -0.212530002},
- {-4.20475721, -0.0719749704, -0.184411138},
- {-4.22354889, -0.0751998201, -0.162314549},
- {-4.2297368, -0.112804517, -0.122626625},
- {-4.24444962, -0.113945343, -0.0820293501},
- {-4.24500656, -0.138990924, -0.031716004},
- {-4.2417717, -0.175869972, 0.0151809566},
- {-4.23664665, -0.196298346, 0.0734456852},
- {-4.26279068, -0.229197606, 0.105324149},
- {-4.26423693, -0.251546383, 0.11802835},
- {-4.28197956, -0.230627671, 0.10359478},
- {-4.30613565, -0.22191985, 0.086590372},
- {-4.33288002, -0.207530648, 0.0623893291},
- {-4.35498142, -0.184523225, 0.0394419655},
- {-4.3799057, -0.154905915, 0.0298800673},
- {-4.40355778, -0.126934916, 0.020766532},
- {-4.43499565, -0.0896012038, 0.0243931524},
- {-4.45636272, -0.0493768081, 0.0274860617},
- {-4.48694086, -0.0140573345, 0.0273323748},
- {-4.51040554, 0.0182513706, 0.0537923798},
- {-4.5388236, 0.0280622002, 0.0713687241},
- {-4.56535435, 0.0396699198, 0.0704979897},
- {-4.58944988, 0.0292550121, 0.0670408607},
- {-4.60674667, 0.0340262912, 0.0581626594},
- {-4.62018728, 0.0101033971, 0.040622592},
- {-4.6308794, -0.00664151879, 0.0278518889},
- {-4.65299511, -0.0129104704, -0.0077996552},
- {-4.67564392, -0.0228709523, -0.032925345},
- {-4.69039297, -0.0384019874, -0.0769576654},
- {-4.70169973, -0.0361072533, -0.102199756},
- {-4.69819117, -0.0572254732, -0.119643062},
- {-4.69719458, -0.0857600123, -0.120125286},
- {-4.69895649, -0.0837812126, -0.140179291},
- {-4.69835138, -0.103307113, -0.143379018},
- {-4.7045269, -0.127314702, -0.128206745},
- {-4.70046949, -0.143244788, -0.103962362},
- {-4.69192839, -0.179064751, -0.0935690105},
- {-4.68774891, -0.194277734, -0.109316759},
- {-4.68774939, -0.191970259, -0.115590587},
- {-4.67416334, -0.178155005, -0.121685155},
- {-4.66745138, -0.177708745, -0.104091108},
- {-4.65376616, -0.132299185, -0.0897485241},
- {-4.64025831, -0.106196456, -0.0642534792},
- {-4.60519886, -0.0562071018, -0.0133178039},
- {-4.5895915, -0.0351025723, 0.0509939566},
- {-4.5550704, -0.0489777252, 0.112358026},
- {-4.49086714, -0.0426422618, 0.126143053},
- {-4.47708225, -0.0422764346, 0.151651204},
- {-4.42902613, -0.0398653001, 0.109664202},
- {-4.38377619, -0.0563522242, 0.0805275142},
- {-4.39759779, -0.0655729771, 0.00398996565},
- {-4.40168667, -0.0961238667, -0.0516007841},
- {-4.43260098, -0.0813035667, -0.101717517},
- {-4.45309496, -0.0466290712, -0.135397315},
- {-4.49046803, -0.0202769041, -0.205313206},
- {-4.47621679, -0.0115179662, -0.202806562},
- {-4.38727188, -0.0220228992, -0.228792667},
- {-4.28625393, 0.0171372611, -0.225832775},
- {-4.26285791, -0.00260078791, -0.158159629},
- {-4.23534107, -0.0422088429, -0.155688852},
- {-4.1856184, -0.0777450651, -0.0697575063},
- {-4.17480898, -0.0814366043, -0.0606617182},
- {-4.1129508, -0.102637932, -0.0484231189},
- {-4.09732294, -0.135738492, 0.0304273572},
- {-4.01592159, -0.192955196, 0.0526915714},
- {-4.02919292, -0.231625363, 0.0388100818},
- {-3.98296547, -0.257565796, 0.0536260977},
- {-3.93559146, -0.305705428, 0.0704375207},
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- {-3.88339424, -0.0781607777, 0.0176752321},
- {-3.84245372, -0.0489031672, 0.0153939109},
- {-3.87032437, 0.0128803588, 0.0171763767},
- {-3.84918022, 0.0684362277, 0.0357978046},
- {-3.83415699, 0.118671, 0.0471077114},
- {-3.80620146, 0.127311915, 0.0593017787},
- {-3.74457955, 0.142532945, 0.0997702256},
- {-3.78229475, 0.104458638, 0.089170292},
- {-3.7450788, 0.100346871, 0.0956846625},
- {-3.73888659, 0.0560202859, 0.0831993595},
- {-3.72155356, 0.038879808, 0.0558407083},
- {-3.72575593, -0.0192625653, 0.0102422861},
- {-3.71054077, -0.0302787088, -0.0188807994},
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- {-3.74734282, -0.106886268, -0.155242577},
- {-3.75486183, -0.0834975541, -0.161477491},
- {-3.67758656, -0.0731234401, -0.146336257},
- {-3.66223073, -0.099630706, -0.112693854},
- {-3.66782641, -0.0907621756, -0.073752895},
- {-3.66893101, -0.0941418931, -0.0379981548},
- {-3.65430832, -0.121809669, 0.00651358627},
- {-3.65709019, -0.142915443, 0.055044882},
- {-3.57025218, -0.13920781, 0.0323013589},
- {-3.53423357, -0.189589977, 0.0790117905},
- {-3.50632596, -0.186279416, 0.0381615683},
- {-3.48439264, -0.190928325, 0.0414575413},
- {-3.50753212, -0.211729616, 0.062631771},
- {-3.52629685, -0.178148031, 0.0685585141},
- {-3.49844408, -0.160239145, 0.0284172539},
- {-3.52927327, -0.172693923, 0.0358003229},
- {-3.57106113, -0.119432747, -0.0018133868},
- {-3.55043912, -0.108886257, 0.0123364739},
- {-3.47739244, -0.10509897, -0.0267395359},
- {-3.4568274, -0.078770116, -0.0321014374},
- {-3.45392942, -0.0542157106, -0.0155152883},
- {-3.4274714, -0.0305523518, -0.0248028077},
- {-3.36037731, -0.024443157, -0.0177858844},
- {-3.35649776, -0.0311031453, -0.0258705635},
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- {0.0566612594, 0.00216247654, 0.0269973986},
- {0.0505926758, 0.00356687931, 0.0274613667},
- {0.0342267007, 0.00375881465, 0.0226546731},
- {0.0175371971, 0.00374425063, 0.0183993317},
- {0.00972431246, 0.00448295986, 0.0154802687},
- {0.0107885385, 0.00491530215, 0.0126035362},
- {0.0148292677, 0.00489867153, 0.0121878237},
- {0.00982408412, 0.00549729774, 0.00936097465},
- {0.0040207319, 0.00686083687, 0.00375716574},
- {0.00666466635, 0.00704375049, 0.00650087185},
- {0.0040041022, 0.00744283432, 0.00379042234},
- {0.00245765154, 0.00725992443, 0.00475487765},
- {9.6400734e-05, 0.00745946402, 0.00350773754},
- {0.000219351379, 0.00743679004, 0.00129110599},
- {-0.00602289382, 0.00681095244, -0.00204618718},
- {-0.008170655, 0.00513201067, -0.00796754938},
- {-0.00498890225, 0.00434086146, -0.00815792382},
- {-0.00312953163, 0.00400073128, -0.0092463363},
- {-0.00533844251, 0.00339835184, -0.0083623426},
- {-0.00565001182, 0.00303476723, -0.0118020885},
- {-0.00691761449, 0.00411927653, -0.00995868072},
- {-0.00785908569, 0.00461497949, -0.00894803088},
- {-0.00686612166, 0.00259160018, -0.00714363251},
- {0.000994340982, 0.00273696473, -0.00869759545},
- {-0.00511789881, 0.00258327788, -0.0038848985},
- {-0.00853380002, 0.00114062801, -0.00192978769},
- {-0.000535482774, 0.000242688227, -0.000732534798},
- {-0.000751653221, 0.000758172013, -0.00480652135},
- {-0.00171610736, 0.000641772058, -0.0143180341},
- {0.00516809896, 0.000857943203, -0.0202045273},
- {0.00782866124, -0.000538852997, -0.0176104791},
- {0.00772888958, 0.00082468614, -0.0150663182},
- {0.00944162812, 0.000408972614, -0.00668554474},
- {0.00764574856, -0.0022848472, -0.00151407486},
- {0.00796169043, -0.00353198592, 0.00512070395},
- {0.00694735069, -0.00501192454, 0.0110072009},
- {0.00611592457, -0.00521146646, 0.0134349633},
- {0.00796168856, -0.00464609684, 0.0158793572},
- {0.00659815315, -0.00547752297, 0.0165444966},
- {0.00499224011, -0.00510816835, 0.0171093587},
- {0.00658152159, -0.00243450375, 0.0181574579},
- {0.0060075717, -0.000755560119, 0.0170760714},
- {0.00613255333, 0.000159544405, 0.0196540281},
- {0.00328303012, -0.000883515459, 0.018060714},
- {0.00339590223, -0.00277009746, 0.0169319939},
- {0.00465154182, -0.00230040262, 0.0176940076},
- {0.00756260473, -0.00299987313, 0.0165112428},
- {0.00689746346, -0.00341558619, 0.011306515},
- {0.0057999827, -0.00299987337, 0.0103420597},
- {0.00674780831, -0.00255090347, 0.00899515022},
- {0.00449237693, -0.00423743809, 0.0103531452},
- {0.0032096894, -0.00211158814, 0.00943768211},
- {0.00235787942, -0.00258416031, 0.0099097183},
- {-0.00198216387, -0.0026174176, 0.00939423498},
- {-0.00290455762, -0.0037119654, 0.00804732367},
- {-0.00411172258, -0.00432128645, 0.00675251801},
- {-0.00465935515, -0.00358187174, 0.00754846912},
- {-0.0042955433, -0.00325383642, 0.00672510359},
- {-0.0043257121, -0.00221457798, 0.00456284359},
- {-0.00505340099, -0.00291521871, 0.00182321854},
- {-0.00434287731, -0.00243772264, -0.00249193888},
- {-0.00495665241, -0.000415902585, -0.00746456534},
- {-0.00370777491, -0.000446591526, -0.0111945551},
- {0.000912710326, -0.000690021086, -0.0108991107},
- {-0.000435711816, -0.00115410751, -0.0129544949},
- {0.000828056596, -5.66253439e-05, -0.012256098},
- {0.00126039679, 0.000841314439, -0.0136030084},
- {0.000246057287, 0.00120714121, -0.014550834},
- {0.000267724972, 0.00282514794, -0.0145755243},
- {-0.000875562662, 0.00295206299, -0.0175112467},
- {0.000229429454, 0.00303627783, -0.0190904178},
- {0.00219159457, 0.00434993254, -0.022050295},
- {0.00325581967, 0.00398410251, -0.0208197851},
- {0.00368614518, 0.00347013352, -0.016800724},
- {0.00362164644, 0.00398410531, -0.014467692},
- {0.0026571916, 0.00340210414, -0.00987822004},
- {0.00227473746, 0.00361827621, -0.0059705181},
- {0.00182576641, 0.00340210507, -0.0046402365},
- {0.000509594567, 0.00342175784, -0.000579350628},
- {0.00115619157, 0.00302186655, 0.00387910847},
- {-0.00151656521, 0.00398410251, 0.00565281697},
- {-0.00102224457, 0.00414736615, 0.0075797094},
- {-0.00347873056, 0.00529775815, 0.00809720811},
- {-0.00362838712, 0.00451621553, 0.00916143414},
- {-0.00417712796, 0.00566358352, 0.00984320138},
- {-0.00440992741, 0.00669455202, 0.0108908005},
- {-0.00474703312, 0.00859776326, 0.0086923074},
- {-0.00406072848, 0.00582987024, 0.0102921752},
- {-0.00230025128, 0.00700298557, 0.0112056686},
- {-0.00289673219, 0.00434993161, 0.00894526392},
- {-0.0040214248, 0.00332501018, 0.00964365993},
- {-0.00360478531, 0.00386180496, 0.0108795334},
- {-0.00381130097, 0.0022713677, 0.00992634427},
- {-0.00534112472, 0.00310279196, 0.00859606359},
- {-0.00340868928, 0.00132555608, 0.00824081711},
- {-0.00436004205, 0.00187067315, 0.00778985023},
- {-0.00331244525, 0.00267045246, 0.00876235124},
- {-0.00468253437, 0.00261552678, 0.00935341977},
- {-0.00445981324, 0.00148982601, 0.00999286026},
- {-0.00440992787, 0.00117388461, 0.00931108929},
- {-0.00357045559, 0.000497480389, 0.010416083},
- {-0.00504181115, -0.00123725086, 0.00922794733},
- {-0.00339558767, -0.00253427494, 0.0105415992},
- {-0.00368280779, -0.00168974791, 0.0106433891},
- {-0.00360218459, -0.00238310662, 0.0114173712},
- {-0.0030040131, -0.00411988469, 0.0114288144},
- {-0.00126713736, -0.00492878165, 0.0114894304},
- {9.73092392e-06, -0.00580152683, 0.0118204858},
- {0.000262686284, -0.00662489049, 0.0125702787},
- {0.00137304165, -0.00686627254, 0.0131453052},
- {0.00279022031, -0.00720688887, 0.0125037655},
- {0.00252416474, -0.00840414129, 0.0119217671},
- {0.00432004407, -0.00808820035, 0.0137176458},
- {0.00646512304, -0.00850391388, 0.0134848505},
- {0.00681432243, -0.00669140462, 0.015147699},
- {0.00764574856, -0.00737317372, 0.0147818699},
- {0.00702394079, -0.00775260665, 0.0121268537},
- {0.00623383746, -0.00614014408, 0.0115302429},
- {0.00874766428, -0.00570477918, 0.0118607972},
- {0.0111195985, -0.0059950226, 0.0131427031},
- {0.0281503219, -0.00645431411, 0.0152909234},
- {0.0649274737, -0.00493079703, 0.0171416085},
- {0.0891088545, -0.00476249633, 0.0197704267},
- {0.0824710652, -0.0051242928, 0.0204149093},
- {0.0517864153, -0.00587070687, 0.0230151359},
-};
-
-const float MAG_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM] = {
- {-28.3021793, -8.44066620, -6.65198565},
- {-25.7122631, -8.22895145, -6.54569578},
- {-26.3388481, -8.0867815, -7.24580717},
- {-23.3181839, -7.37590933, -7.80581093},
- {-22.9030933, -7.37590933, -7.10572004},
- {-22.9064999, -8.15786266, -5.63555479},
- {-21.0482521, -7.87351608, -5.56560802},
- {-22.2906704, -6.94938326, -7.66586733},
- {-23.217905, -7.23373556, -7.03573847},
- {-22.6921253, -7.73134327, -6.75565481},
- {-22.5883446, -7.73134327, -6.82566404},
- {-22.8095207, -7.30481815, -6.89576721},
- {-21.5641842, -7.87351179, -5.84563446},
- {-21.3498096, -7.80242872, -6.54567528},
- {-22.4913692, -7.37590885, -7.17575407},
- {-22.2804012, -7.09156322, -7.38575697},
- {-22.2837791, -7.30482054, -7.8058362},
- {-23.0068512, -7.02047682, -8.29587173},
- {-22.8026848, -7.1626482, -7.73582745},
- {-22.7057247, -7.23373079, -7.24581146},
- {-22.2838306, -7.09156084, -6.96572781},
- {-22.2837791, -6.94938755, -7.38578081},
- {-22.2871647, -6.80721092, -7.2457881},
- {-22.8026848, -6.7361269, -7.31577301},
- {-23.3181839, -6.52287006, -7.17573023},
- {-23.1106281, -6.87830353, -7.17573023},
- {-22.8026848, -6.7361269, -7.38578081},
- {-22.5917072, -6.73613024, -7.59578419},
- {-22.4913311, -6.94938707, -7.38578272},
- {-22.6989422, -6.87830019, -7.2457633},
- {-23.0171432, -6.80720806, -7.10579395},
- {-22.3909607, -6.94938421, -7.17577934},
- {-22.4879551, -7.09156322, -6.96570492},
- {-23.0102558, -6.87830019, -7.03573751},
- {-22.7022991, -7.0204711, -7.03576136},
- {-23.1140709, -6.94938755, -6.96572876},
- {-23.2247353, -7.37590551, -7.10579395},
- {-23.1140671, -7.02047491, -7.03573656},
- {-22.5951271, -6.87830019, -7.10574579},
- {-22.601963, -6.87829494, -7.03578424},
- {-22.8061619, -7.16264629, -7.03576088},
- {-22.5985699, -6.94938469, -6.89574194},
- {-23.0171432, -6.87829494, -6.82575607},
- {-22.4879646, -6.87830162, -6.75567818},
- {-22.6886864, -7.30482626, -6.75563097},
- {-22.6988888, -7.23373556, -6.61568356},
- {-22.3943424, -7.51807785, -6.75574636},
- {-22.7057629, -7.23373079, -6.96577454},
- {-22.6989746, -7.09156179, -7.03573656},
- {-22.4913845, -7.37590837, -7.03573656},
- {-22.3944283, -7.51808071, -6.7557478},
- {-22.5985622, -7.73134041, -6.6157074},
- {-22.903183, -7.51808071, -6.33562517},
- {-23.0172005, -7.16264439, -6.61572695},
- {-22.7057571, -7.660254, -6.68573809},
- {-22.6921253, -7.4469986, -6.75565434},
- {-22.7958202, -7.66025829, -6.54563046},
- {-22.9931335, -7.44700146, -6.33553743},
- {-22.3807774, -7.30482578, -6.33560324},
- {-22.3876266, -7.37590885, -6.26563787},
- {-22.8027363, -7.44699574, -6.1956296},
- {-22.8061428, -7.30481911, -6.33566904},
- {-22.9064617, -6.94938755, -6.1956296},
- {-23.0000877, -6.94939661, -6.33558273},
- {-23.5361252, -7.30481815, -6.8257556},
- {-23.2213345, -6.80721378, -6.6857152},
- {-23.2144089, -6.73613024, -6.75567818},
- {-23.3147602, -6.66504669, -6.89567375},
- {-23.1072025, -6.30961418, -6.96568155},
- {-22.8962307, -6.30961847, -6.82564068},
- {-22.7959023, -6.09635496, -7.10569859},
- {-22.8962212, -5.88309908, -7.10567427},
- {-22.7958736, -5.31440353, -7.59575796},
- {-22.9999676, -5.45658255, -7.66574097},
- {-23.1071358, -5.31440306, -7.66576767},
- {-23.0068169, -4.88787603, -7.94582891},
- {-22.9999542, -4.46137476, -8.08579254},
- {-22.8927994, -4.17703867, -8.15577412},
- {-22.685276, -4.10595274, -8.15577507},
- {-22.2753143, -3.64387703, -8.40084457},
- {-22.481163, -3.32399297, -8.50584412},
- {-22.8061428, -2.75525045, -8.85599804},
- {-22.6989079, -2.39982963, -9.06599522},
- {-22.1298237, -2.15101957, -8.92599392},
- {-22.4811287, -1.76009572, -9.13591862},
- {-22.5883293, -1.26247358, -9.34597397},
- {-23.2109509, -0.764867902, -9.20595646},
- {-22.5951462, -0.196138099, -9.06599712},
- {-22.2854404, 0.51474005, -9.13602066},
- {-22.4258785, 0.727904081, -9.03087711},
- {-23.0000153, 0.941185057, -8.92589378},
- {-22.7958736, 1.58098602, -8.64588737},
- {-23.5222893, 2.29185081, -8.29584408},
- {-23.0535812, 2.54063892, -8.29583168},
- {-22.6887054, 2.93159986, -8.57585049},
- {-23.2144604, 3.50034666, -7.87581682},
- {-23.3649387, 3.71356678, -7.980793},
- {-22.7958202, 4.56661654, -7.45574188},
- {-23.0484409, 4.67318439, -6.93062973},
- {-23.520504, 4.77986097, -7.14068937},
- {-23.3597221, 5.0997014, -6.615592},
- {-23.1037827, 5.27744818, -5.98553896},
- {-22.8979626, 5.6328969, -5.67051077},
- {-22.8927956, 6.16599321, -5.9855175},
- {-23.5205269, 6.80582237, -5.46048546},
- {-23.4185181, 6.55703926, -5.21546364},
- {-23.6225986, 6.91243553, -4.86540461},
- {-23.5101719, 6.80571413, -4.72534132},
- {-23.8266506, 7.12565565, -4.30531931},
- {-23.9927464, 7.33902788, -3.9903307},
- {-23.4185028, 7.48116302, -3.7452848},
- {-23.6191311, 8.26303291, -3.25519466},
- {-23.5152779, 8.19194984, -2.83514571},
- {-23.1071701, 8.61854839, -2.6251471},
- {-23.3112831, 8.76067924, -2.20508385},
- {-23.0968952, 9.04494095, -1.43497014},
- {-23.207468, 9.18719482, -0.804913759},
- {-22.8961926, 9.54262829, -0.104829729},
- {-23.1072407, 9.82701778, 0.665259063},
- {-23.8335857, 9.96918869, 1.36534488},
- {-23.3147411, 10.2535372, 2.27545714},
- {-22.9999676, 10.0402327, 2.83552527},
- {-22.7890377, 10.1112738, 3.4655993},
- {-23.0000057, 10.0402317, 4.16568565},
- {-23.5188217, 9.82697201, 5.07579708},
- {-23.2074871, 9.25828648, 6.05591345},
- {-23.3043861, 9.18711281, 6.40593815},
- {-23.2179184, 8.90297127, 7.31610441},
- {-23.6295052, 8.4053278, 7.73614264},
- {-23.7332668, 7.76554632, 8.36622238},
- {-23.2006721, 7.05453396, 8.8562212},
- {-23.0968952, 6.77018738, 9.34628105},
- {-22.9064617, 5.98841524, 9.62639523},
- {-23.3147602, 5.63291311, 10.5364733},
- {-23.4219322, 5.56186199, 11.0965624},
- {-23.1071701, 4.92204809, 11.3065691},
- {-23.311264, 4.0689826, 11.6565905},
- {-22.9965763, 3.50026393, 12.1466265},
- {-23.3181839, 2.78948212, 12.2167044},
- {-23.1105938, 1.93644094, 12.5667486},
- {-23.314661, 1.22555304, 12.9867744},
- {-23.5153637, 0.514646232, 13.1267414},
- {-23.3078442, -0.480560243, 12.9867249},
- {-22.8825302, -1.54689634, 13.1966715},
- {-22.5747547, -2.32882738, 13.2667055},
- {-22.6818752, -3.32401586, 12.706665},
- {-22.8893051, -4.31922007, 12.3566256},
- {-22.9931183, -5.31442308, 12.4266338},
- {-22.6818848, -6.30962563, 11.9365797},
- {-22.2701988, -7.0204854, 11.3065262},
- {-22.5848713, -7.80242968, 10.8164883},
- {-22.5849247, -8.86872578, 10.3264284},
- {-22.5883293, -9.15307426, 9.69636917},
- {-22.6886673, -9.57958794, 8.92626095},
- {-22.6920967, -10.2193718, 8.08617115},
- {-23.0068836, -11.0013304, 7.45610523},
- {-22.3739948, -11.2856522, 6.89600468},
- {-22.2770481, -11.570014, 5.98591328},
- {-22.1732197, -11.9254465, 5.07580328},
- {-22.2735901, -11.9965229, 4.16568565},
- {-22.6886997, -12.1386957, 3.67562556},
- {-23.1140709, -11.9254656, 2.6955092},
- {-22.6989231, -11.5700312, 1.71538413},
- {-22.2804012, -11.4989357, 0.665253818},
- {-22.5883293, -11.4989262, -0.174843311},
- {-22.5815182, -11.0013075, -0.94492203},
- {-22.3739948, -10.3615322, -1.92503798},
- {-22.3739948, -10.2904463, -2.62512064},
- {-23.0000057, -9.43741608, -3.46523523},
- {-22.6920967, -8.93981361, -4.51537991},
- {-22.6955166, -8.51329613, -5.21548462},
- {-22.5985432, -7.73134041, -5.70558691},
- {-22.8026657, -6.87830257, -6.61568165},
- {-23.0068512, -5.81200361, -7.24573946},
- {-22.4913464, -4.74569464, -7.59580803},
- {-23.1106281, -3.82157683, -8.08584499},
- {-23.5222797, -2.61311793, -8.36585236},
- {-23.3112831, -1.61792052, -8.29581833},
- {-22.8962383, -0.551628292, -8.43583488},
- {-23.0968761, 0.159195006, -8.64580536},
- {-23.2075253, 1.29662168, -8.85588646},
- {-23.4184837, 2.0075047, -8.43586063},
- {-23.1003532, 3.00265956, -7.73572683},
- {-22.9965572, 4.14003754, -7.73572445},
- {-22.7924442, 4.99310541, -7.38570642},
- {-22.8027172, 5.6329813, -6.89571905},
- {-23.1071892, 6.48595142, -6.05556917},
- {-23.5188026, 7.41003656, -5.14543867},
- {-23.4150639, 7.90764332, -4.51536226},
- {-23.7263832, 8.33415985, -3.8152771},
- {-23.4116058, 8.9028101, -2.69512916},
- {-23.9338856, 9.47154236, -1.92504728},
- {-23.6260567, 9.5426712, -0.874931812},
- {-23.3113213, 9.47154045, 0.105196349},
- {-23.2075253, 9.75588608, 1.01530719},
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- {-14.0197363, 19.9151115, 4.2353425},
- {-13.8104019, 20.1282558, 4.23533869},
- {-14.3294888, 20.1283245, 4.37532806},
- {-14.0138988, 20.2703304, 4.4453125},
- {-14.0167913, 20.1282578, 4.44531727},
- {-14.0197363, 20.2704678, 4.44532156},
- {-13.9135942, 20.5546761, 4.44531631},
- {-13.8161736, 20.2705307, 4.44532585},
- {-14.3265724, 20.3414669, 4.37532377},
- {-14.1229811, 19.9861794, 4.51531458},
- {-14.0197554, 20.1993942, 4.51531315},
- {-14.4475002, 20.1997356, 4.37535095},
- {-14.5389795, 20.2705345, 4.44532776},
- {-14.4298162, 20.2703991, 4.58530235},
- {-13.9165106, 20.0572548, 4.37532806},
- {-14.2203875, 19.9860477, 4.51530457},
- {-13.807457, 20.1281872, 4.44531202},
- {-13.7071056, 20.2703934, 4.51530981},
- {-14.4327183, 20.0572529, 4.51531363},
- {-13.9135942, 19.9150429, 4.65529537},
- {-13.7041798, 20.1281872, 4.51530504},
- {-14.2174759, 20.1281185, 4.58529282},
- {-13.9107018, 19.9149761, 4.72528315},
- {-14.1230278, 20.1283245, 4.65530062},
- {-14.1259451, 20.4837494, 4.51531935},
- {-14.5330324, 20.3414688, 4.51530886},
- {-14.530097, 19.9860477, 4.58529758},
- {-14.016839, 20.1282558, 4.37532377},
- {-13.6067209, 19.9151115, 4.44532108},
- {-14.2203827, 19.9860477, 4.44531202},
- {-14.016839, 20.1993256, 4.16534472},
- {-14.1142502, 19.8438396, 4.16533756},
- {-13.710041, 20.0572548, 4.44532156},
- {-14.2262297, 19.9151115, 4.44532061},
- {-13.7012682, 20.2702618, 4.58529234},
- {-13.7071056, 20.1993256, 4.44531631},
- {-13.7041798, 19.8439083, 4.51530504},
- {-14.226263, 19.9861851, 4.44531918},
- {-15.0434027, 20.1281185, 4.37531757},
- {-14.6392078, 20.0572529, 4.16534805},
- {-14.1229811, 20.2704678, 4.16534805},
- {-13.9136324, 19.9150429, 4.23533821},
- {-14.3265438, 20.0571842, 4.44531584},
- {-14.1200552, 20.4836082, 4.72528791},
- {-14.1200361, 20.057188, 4.44531727},
- {-14.2203636, 19.9860439, 4.37531948},
- {-13.9135942, 20.0571842, 4.65529585},
- {-14.0139275, 20.2703304, 4.4453125},
- {-14.1201401, 20.2703991, 4.37532377},
- {-14.3295412, 20.1283245, 4.30533457},
- {-14.0197554, 20.2704678, 4.37532806},
- {-13.8161402, 20.1283951, 4.4453249},
- {-13.60674, 20.1993942, 4.58530617},
- {-14.016839, 20.1282558, 4.65529537},
- {-14.2262535, 19.9861851, 4.58530712},
- {-13.9106827, 20.199255, 4.65529108},
- {-13.7071056, 20.3414688, 4.44531679},
- {-13.403162, 20.4126759, 4.58531189},
- {-13.6009493, 20.1281891, 4.37532043},
- {-13.8103504, 20.1993256, 4.44531631},
- {-14.1259451, 19.986248, 4.37533283},
- {-13.807457, 20.1281872, 4.23533297},
- {-13.7042131, 19.9860477, 4.4453125},
- {-13.6038609, 20.1282558, 4.65529537},
- {-13.9223528, 20.4127445, 4.44532967},
- {-13.9194031, 20.3416061, 4.44532633},
- {-13.9106684, 20.4124699, 4.4453125},
- {-13.600935, 20.2703304, 4.37531996},
- {-13.8133135, 19.9861794, 4.44532156},
- {-14.0139132, 20.2703304, 4.37531948},
- {-14.1171103, 20.4835396, 4.44531155},
- {-14.019722, 20.1993942, 4.72529364},
- {-14.0226622, 20.1283913, 4.51531982},
- {-14.016839, 19.9861126, 4.23533773},
- {-13.60674, 20.2704678, 4.30533552},
- {-13.9165392, 20.3415356, 4.5853076},
- {-14.0226669, 20.0573235, 4.65530682},
- {-14.1171188, 20.2703304, 4.23533392},
- {-13.8103685, 20.5546818, 4.58530331},
- {-14.0110197, 20.2702579, 4.44530773},
- {-13.4947834, 20.1281223, 4.58529377},
- {-14.0081463, 20.1280499, 4.44530296},
- {-13.8074379, 20.1281872, 4.65529108},
- {-13.9107018, 20.1992569, 4.51530552},
- {-13.9077759, 20.4124012, 4.58529234},
- {-14.1171761, 20.2703304, 4.58529568},
- {-13.9165106, 20.1283264, 4.4453187},
- {-13.6096706, 20.5548191, 4.30533886},
- {-13.9076948, 20.5545444, 4.37531519},
- {-13.7071629, 20.1993256, 4.23533869},
- {-14.016839, 20.3414669, 4.23533773},
- {-13.8074236, 20.3413982, 4.51530552},
- {-14.2204018, 20.1281872, 4.4453125},
- {-13.8045502, 19.8438396, 4.37531471},
- {-13.7013197, 20.0570507, 4.5152998},
- {-14.3206825, 19.985981, 4.2353301},
- {-13.8045311, 19.985981, 4.37531567},
- {-13.90485, 20.1280499, 4.72527266},
- {-14.2233276, 20.1282558, 4.58530235},
- {-14.1171761, 20.0571194, 4.58529758},
- {-14.1171713, 20.1992569, 4.58529758},
- {-13.8103504, 20.0571842, 4.44531631},
- {-14.9430513, 20.1992569, 4.37531948},
- {-14.7365618, 20.1281872, 4.51530552},
- {-14.8427944, 20.1282558, 4.44531631},
- {-14.0197554, 20.270462, 4.23534203},
- {-13.8045692, 19.8438396, 4.58529091},
- {-13.9077759, 19.7017002, 4.51529932},
- {-13.7071056, 19.9150429, 4.44531631},
- {-14.1200876, 20.1282558, 4.44531727},
- {-14.2262535, 20.1993942, 4.44532156},
- {-14.2203827, 19.9860439, 4.58529806},
- {-14.0109682, 19.985981, 4.51530027},
- {-13.8103504, 20.1282558, 4.44531679},
- {-14.4298162, 20.2703991, 4.16534472},
- {-14.3236609, 19.9860477, 4.30532646},
- {-14.533061, 20.0571842, 4.23533773},
- {-14.4327898, 20.1283245, 4.23534393},
- {-14.7484322, 20.1284599, 4.51532316},
- {-14.424036, 19.985981, 4.30532408},
- {-14.633379, 20.1281872, 4.2353344},
- {-14.6363058, 19.9150429, 4.37532377},
- {-13.9165106, 19.9151115, 4.30533457},
- {-14.1287899, 20.1284599, 4.02536964},
- {-14.0255451, 19.9152489, 4.30534267},
- {-14.3265724, 19.9861164, 4.37532377},
- {-14.2174759, 20.2702579, 4.30532312},
- {-14.4239645, 20.199194, 4.37531757},
- {-14.3148298, 20.0569153, 4.16533136},
- {-14.4180555, 19.9147758, 4.09533787},
- {-14.4269047, 19.7728367, 4.37531948},
- {-14.633379, 19.9149761, 4.4453125},
- {-14.6363058, 19.7729034, 4.44531631},
- {-14.848732, 19.7019653, 4.65530539},
- {-14.0197744, 19.8440418, 4.65530252},
- {-14.0197363, 19.7019024, 4.86528015},
- {-14.3324528, 19.6308956, 4.51531887},
- {-15.2647352, 20.0573902, 4.37533617},
- {-14.5331182, 19.8439732, 4.37532234},
- {-14.3324337, 19.7730389, 4.65530491},
- {-14.226263, 19.8440418, 4.65530109},
- {-14.6392689, 19.9151115, 4.37532806},
- {-14.7366428, 19.8439083, 4.58529758},
- {-14.630434, 19.772768, 4.51530123},
- {-14.8368759, 19.7016983, 4.44530821},
- {-14.2204399, 19.8439045, 4.58529758},
- {-14.5271902, 19.8438396, 4.58529282},
- {-14.934145, 19.4883575, 4.58528233},
- {-14.8338642, 19.9148464, 4.7252717},
- {-14.7306862, 19.9148445, 4.3753109},
- {-14.9431028, 19.6306934, 4.37531996},
- {-14.7366524, 19.6306934, 4.65529013},
- {-14.83395, 19.4884186, 4.30531693},
- {-15.0463095, 19.701767, 4.23533297},
- {-14.8368807, 19.772768, 4.51530075},
- {-14.630434, 19.8438377, 4.23532963},
- {-14.5212717, 19.4883575, 4.30531454},
- {-14.7306862, 19.5594883, 4.16533375},
- {-14.6304064, 19.772768, 4.09534502},
- {-14.7366142, 19.9860477, 4.02535391},
- {-14.2291698, 19.8441105, 3.95537233},
- {-14.533061, 19.8439732, 4.16534472},
- {-14.3236322, 19.9149761, 4.09534883},
- {-14.4298067, 19.9150429, 4.0953536},
- {-14.4327517, 19.8440399, 4.2353425},
- {-14.5301065, 20.0571194, 3.815377},
- {-14.1141739, 19.772768, 3.74538207},
- {-14.6790686, 19.9148407, 4.09534121},
- {-14.2203636, 19.701767, 4.02535534},
- {-14.2204018, 19.9860439, 4.02535582},
- {-14.6273899, 20.270195, 4.16533375},
- {-15.0432606, 19.985981, 4.44530869},
- {-14.4298162, 19.8439732, 4.30533075},
- {-14.9932194, 19.8083363, 3.99035788},
- {-14.6363058, 19.9861164, 4.0953517},
- {-14.4298162, 20.0571842, 4.23533773},
- {-14.6363058, 19.8439732, 3.88537288},
- {-14.5241833, 19.9148407, 3.99035192},
- {-14.4268808, 19.7728348, 3.81537747},
- {-14.3177748, 19.9148388, 3.81537151},
- {-14.3737812, 20.1281528, 3.88536763},
- {-14.8472738, 20.0217533, 3.57040787},
- {-15.1465616, 19.7727718, 3.95535684},
- {-14.5330515, 19.8439732, 4.23533821},
- {-14.0168772, 19.9150429, 4.30533218},
- {-14.1142693, 19.9149075, 3.88536906},
- {-14.683486, 19.9149437, 3.8853693},
- {-13.4490757, 19.7018318, 3.88537145},
- {-14.3781986, 19.4886208, 3.99036241},
- {-14.4268808, 19.5596237, 3.81537747},
- {-14.3236647, 19.9149761, 3.74538445},
- {-14.3738098, 20.1281528, 3.78037906},
- {-14.21455, 19.8082371, 3.57039785},
- {-14.6879606, 19.7018356, 3.6753974},
- {-14.687932, 20.2348633, 3.57040477},
- {-14.3207388, 20.0570488, 3.18544149},
- {-14.5271902, 19.9149132, 3.32542586},
- {-14.6835146, 19.9149437, 3.25543427},
- {-14.6789932, 20.2346573, 3.57039714},
- {-14.5271425, 20.0570507, 3.25543308},
- {-14.2277498, 20.4481792, 3.25543952},
- {-14.2174759, 20.1281185, 3.25543237},
- {-13.4490757, 20.3414688, 3.46541381},
- {-14.5330706, 20.4125366, 3.32542849},
- {-14.2321196, 20.1284618, 3.15045094},
- {-14.6333513, 19.9149761, 3.25543547},
- {-14.4239454, 19.9149132, 3.18544054},
- {-14.2204399, 20.1992569, 3.18544149},
- {-14.0110064, 20.1991901, 3.25543404},
- {-14.839859, 20.2703304, 2.83547831},
- {-14.2262249, 20.1283245, 3.18544555},
- {-14.2234182, 20.1282578, 3.39542198},
- {-13.4919529, 20.270195, 3.32542443},
- {-13.5980949, 20.4124012, 3.25543332},
- {-13.9048643, 20.1280537, 3.32542443},
- {-14.6304531, 20.1991901, 3.18544054},
- {-14.8398399, 20.1281872, 3.39542031},
- {-14.5271711, 20.1991901, 3.53540373},
- {-14.3236465, 20.1281872, 3.46541262},
- {-13.9078093, 20.0570507, 3.25543332},
- {-13.9048643, 20.1280499, 3.04545474},
- {-13.8045502, 19.9149132, 2.83547783},
- {-14.3324337, 20.2705307, 3.18544769},
- {-14.4297924, 20.2703991, 3.39542294},
- {-14.2116432, 20.1990528, 3.325423},
- {-14.1055012, 20.3411255, 3.04545116},
- {-13.9993496, 20.4121284, 3.39541125},
- {-14.1113529, 20.270195, 3.115448},
- {-14.1171713, 20.4835396, 3.39542031},
- {-14.833931, 20.4123325, 3.18543744},
- {-14.6274281, 20.3412628, 3.3954165},
- {-14.117157, 20.0571175, 3.18544149},
- {-14.1200829, 20.0571842, 3.11545062},
- {-14.2204399, 20.1281872, 3.53540611},
- {-13.907795, 20.1991901, 3.39541793},
- {-14.4298449, 19.9150429, 3.60540032},
- {-14.5301256, 20.1992569, 3.46541429},
- {-14.2116385, 20.4122639, 3.18543696},
- {-14.1113243, 20.056982, 2.83547735},
- {-13.8016386, 20.1991215, 3.25543189},
- {-13.9049025, 20.4123325, 3.39541841},
- {-14.0110197, 20.1281223, 3.67538929},
- {-13.90485, 19.9148445, 3.18543959},
- {-13.8074236, 20.0571175, 3.18544197},
- {-14.2204018, 20.1281872, 3.46541333},
- {-14.6303921, 20.4124012, 3.32542944},
- {-14.6274662, 19.9859123, 2.97546315},
- {-14.5359964, 20.1283245, 3.32543159},
- {-14.3295078, 20.1283245, 3.32543039},
- {-14.2233276, 19.8439732, 3.46541524},
- {-14.4268522, 20.2703304, 3.11545014},
- {-14.7306862, 20.1991215, 3.25543189},
- {-14.4326811, 20.1283264, 3.18544245},
- {-14.6421337, 19.9862537, 3.11545157},
- {-14.8368759, 19.985981, 3.32542586},
- {-14.217495, 20.4124012, 3.25543332},
- {-14.3207197, 20.1991901, 3.18544102},
- {-14.0081081, 20.1280499, 3.04545569},
- {-14.0138941, 19.7728348, 3.25543451},
- {-13.7987652, 19.9147758, 3.39541435},
- {-14.3236837, 20.0571194, 3.04545665},
- {-14.7336597, 20.4124012, 3.11544752},
- {-14.836895, 20.1991901, 3.04545569},
- {-14.3178272, 20.270195, 3.18543839},
- {-14.1083984, 19.9147758, 3.39541483},
- {-13.9077902, 20.0570507, 3.25543308},
- {-14.1142311, 20.1281185, 3.18544054},
- {-14.1171761, 20.2703304, 3.32542849},
- {-13.9077568, 20.1991901, 3.32542586},
- {-14.2174759, 20.2702618, 3.25543189},
- {-14.2204018, 20.2703304, 3.04545617},
- {-14.7336884, 20.1281185, 3.115448},
- {-14.1142263, 19.985981, 3.25543332},
- {-14.2204018, 20.0571194, 3.18544197},
- {-14.2115908, 20.3411942, 3.5353992},
- {-14.7336359, 19.9859753, 3.04545259},
- {-14.3178082, 20.056982, 2.97546077},
- {-13.592309, 20.1279831, 2.97546124},
- {-14.6216087, 20.0568466, 3.18543696},
- {-14.3118572, 20.2700577, 3.25542831},
- {-14.2144976, 20.1280499, 3.11544657},
- {-15.4442968, 19.9857101, 3.25542736},
- {-14.836771, 19.9149075, 3.39541936},
- {-14.1113052, 19.9148388, 3.32542491},
- {-14.3148489, 20.3411961, 3.325423},
- {-14.5242262, 20.1280499, 3.39541674},
- {-14.21455, 20.3412628, 3.46540928},
- {-14.4239264, 20.1991901, 3.32542586},
- {-14.1142645, 20.1991901, 3.32542634},
- {-14.2086792, 20.1279163, 3.25542879},
- {-14.3148117, 20.127985, 3.325423},
- {-14.1142311, 19.985981, 3.18544102},
- {-14.0110016, 19.8438396, 3.32542586},
- {-14.2174759, 19.8438435, 3.25543332},
- {-14.1113529, 20.4123344, 3.25543237},
- {-14.2174377, 20.3413296, 3.39541793},
- {-14.0109873, 20.1281185, 3.115448},
- {-14.2174377, 20.1991901, 3.25543404},
- {-14.6303682, 20.1281185, 3.32542586},
- {-14.0110016, 20.1281185, 3.25543332},
- {-14.5242262, 20.056982, 3.39541674},
- {-14.4180555, 20.1279831, 3.32542396},
- {-14.2086601, 20.0568485, 3.04545522},
- {-14.6156855, 19.843504, 3.18543506},
- {-14.5183125, 20.0568466, 2.76548433},
- {-14.114212, 20.0570507, 3.115448},
- {-14.0139322, 20.2703304, 3.11544895},
- {-13.899045, 19.9857788, 3.46540475},
- {-14.4180937, 19.9147758, 3.325423},
- {-14.1142454, 20.2702618, 3.18544102},
- {-14.2174759, 20.1281223, 3.39541626},
- {-14.0052013, 19.9147758, 3.3954134},
- {-14.0051823, 19.9858437, 3.11544514},
- {-14.2087126, 20.1989841, 3.11544466},
- {-13.9964428, 20.3409901, 3.32541728},
- {-13.79002, 20.3409901, 3.11544156},
- {-14.1084127, 20.2701206, 2.76548386},
- {-14.3148298, 20.1990509, 3.11544347},
- {-14.0051489, 20.3411942, 3.39541531},
- {-14.0080938, 20.3412628, 3.46540928},
- {-13.8016386, 20.4834042, 3.39541674},
- {-13.6926279, 20.1279144, 3.32542133},
- {-13.7986984, 20.1279831, 3.25543094},
- {-14.5212908, 20.1990528, 3.25543094},
- {-14.3207197, 20.2702618, 3.25543451},
- {-14.1142645, 20.1281185, 3.46541166},
- {-14.2086792, 20.2700577, 3.18543696},
-};
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.h b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.h
deleted file mode 100644
index 079f707f1..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_imu_data.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-/**
- * BMX160 IMU data from Lynx flight test in Roccaraso.
- * Sampled at 50 Hz (20 ms period).
- * Each sample here is the result of an average over an entire FIFO, corrected
- * using calibration parameters and rotated in body frame.
- */
-static constexpr unsigned IMU_DATA_SIZE = 6463;
-static const unsigned MOTION_SENSOR_AXIS_NUM = 3;
-extern const float ACCEL_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
-extern const float GYRO_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
-extern const float MAG_DATA[IMU_DATA_SIZE][MOTION_SENSOR_AXIS_NUM];
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.cpp
deleted file mode 100644
index b54217a83..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.cpp
+++ /dev/null
@@ -1,1462 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "lynx_press_data.h"
-
-const float PRESSURE_DATA[PRESSURE_DATA_SIZE] = {
- 85681.5859, 85698.3438, 85687.0234, 85687.0234, 85691.8984, 85689.7891,
- 85679.3672, 85687.6406, 85658.8281, 85658.8281, 85693.375, 85661.5625,
- 85640.5078, 85654.0156, 85677.2656, 85677.2656, 85665.3359, 85671.7031,
- 85668.2969, 85655.8828, 85637.4609, 85637.4609, 85639.6328, 85638.8203,
- 85649.6172, 85636.3047, 85630.0156, 85630.0156, 85606.6719, 85610.6094,
- 85601.1562, 85597.9531, 85590.9688, 85590.9688, 85577.1172, 85567.0547,
- 85565.1484, 85550.4531, 85547.7422, 85547.7422, 85532.4766, 85533.8203,
- 85526.1484, 85521.8906, 85503.7109, 85503.7109, 85492.7422, 85484.7891,
- 85473.0234, 85466.2109, 85461.0547, 85461.0547, 85436.4297, 85428.7266,
- 85420.1641, 85413.1016, 85395.6094, 85395.6094, 85385.2734, 85372.5703,
- 85358.6094, 85355.4844, 85335.2812, 85335.2812, 85315.7969, 85306.2656,
- 85291.3672, 85279.0781, 85275.0156, 85275.0156, 85259.2578, 85241.9375,
- 85226.7969, 85224.0391, 85206.7578, 85206.7578, 85179.4844, 85177.8594,
- 85163.0078, 85148.2422, 85141.9531, 85141.9531, 85108.5078, 85096.4922,
- 85085.1328, 85073.5312, 85057.5859, 85057.5859, 85029.0547, 85018.0547,
- 84997.4844, 84993.875, 84980.0781, 84980.0781, 84952.2109, 84934.6797,
- 84912.1172, 84896.4922, 84873.7344, 84873.7344, 84841.3281, 84807.6094,
- 84794.6641, 84781.7188, 84765.125, 84765.125, 84728, 84712.2109,
- 84706.5312, 84681.8984, 84673.3828, 84673.3828, 84630.875, 84627.1797,
- 84609.4062, 84592.2031, 84573.6562, 84573.6562, 84553.8203, 84524.5234,
- 84510.4844, 84487.9219, 84475.8281, 84475.8281, 84446.8906, 84426.9219,
- 84397.9062, 84382.9766, 84357.8984, 84357.8984, 84322.3906, 84301.8984,
- 84270.9375, 84255.5547, 84236.8516, 84236.8516, 84195.9531, 84167.7109,
- 84145.7969, 84128.0234, 84103.9219, 84103.9219, 84058.6406, 84045.6562,
- 84019.3594, 83991.4844, 83959.2266, 83959.2266, 83925.0234, 83889.2344,
- 83874.8281, 83841.0625, 83812.5, 83812.5, 83743.5938, 83727.4844,
- 83702.9766, 83681.1484, 83667.0625, 83667.0625, 83617.6719, 83594.9453,
- 83559.3203, 83518.1328, 83481.0469, 83481.0469, 83413.1016, 83385.875,
- 83334.6641, 83295.0625, 83252.1719, 83252.1719, 83111.3203, 83017.3438,
- 82931.3984, 82853.4922, 82807.1094, 82807.1094, 82746.8438, 82717.2266,
- 82675.5078, 82637.8594, 82601.6641, 82601.6641, 82548.4688, 82512.3984,
- 82488.0078, 82459.6094, 82445.1172, 82445.1172, 82419.4219, 82411.4297,
- 82396.0469, 82400.2656, 82385.7812, 82385.7812, 82372.8516, 82361.3672,
- 82335.0781, 82328.7031, 82314.9922, 82314.9922, 82266.3281, 82259.0703,
- 82233.1797, 82217.1484, 82426.2109, 82426.2109, 82174.4531, 82181.1094,
- 82168.2422, 82152.4609, 82124.9844, 82124.9844, 82087.1094, 82083.4609,
- 82087.9609, 82073.3516, 82036.75, 82036.75, 81990.3516, 82028.0078,
- 82166.7812, 82374.9922, 82661.5938, 82661.5938, 82926.8203, 82911.0703,
- 82905.5938, 82946.6562, 82929.5781, 82929.5781, 82861.9062, 82825.5469,
- 82792.8438, 82768.5781, 82750.3594, 82750.3594, 82693.7031, 82676.5391,
- 82650.8125, 82620.3438, 82601.1875, 82601.1875, 82598.1953, 83182.0703,
- 83905.9766, 84545.0391, 85008.8828, 85008.8828, 84617.6016, 84202.5391,
- 83485.0938, 82799.0938, 82273.2969, 82273.2969, 81184.7656, 80662.8906,
- 80304.0234, 80237.0312, 80070.7031, 80070.7031, 79558.0234, 79448.6641,
- 79200.8906, 79283.1016, 79164.0078, 79164.0078, 79298.0234, 79158.4766,
- 79020.7188, 79005.1328, 78936.2344, 78936.2344, 78760.0625, 78817.2422,
- 78801.4531, 78811.4766, 78749.0703, 78749.0703, 78757.3594, 78631.0391,
- 78798.0938, 78727.3672, 78719.7422, 78719.7422, 78686.6875, 78595.9609,
- 78542.9688, 78618.1562, 78591.8984, 78591.8984, 78640.7578, 78639.9922,
- 78600.0625, 78581.0312, 78498.1328, 78498.1328, 78516.1797, 78517.6797,
- 78570.5469, 78475.9609, 78454.2109, 78454.2109, 78486.2969, 78428.6406,
- 78442.6016, 78405.5078, 78357.4688, 78357.4688, 78448.3828, 78395.1406,
- 78310.3359, 78410.3984, 78320.2344, 78320.2344, 78287.1484, 78263.7734,
- 78224.6172, 78309.3047, 78216.7031, 78216.7031, 78049.0234, 78213.2422,
- 78121.375, 78126.9297, 78064.3984, 78064.3984, 77966.7578, 77888.6484,
- 78027.0547, 78012.4453, 78030.3047, 78030.3047, 77973.9219, 78054.0625,
- 77885.3438, 77930.9922, 77941.9844, 77941.9844, 78051.9141, 77881,
- 77892.6875, 77977.7734, 77869.7969, 77869.7969, 77665.3672, 77635.9844,
- 77689.9922, 77747.7344, 77792.6562, 77792.6562, 77735.6797, 77660.0781,
- 77692.1328, 77636.1016, 77558.1875, 77558.1875, 77669.9453, 77666.2578,
- 77650.7578, 77532.4297, 77572.3594, 77572.3594, 77460.7812, 77520.75,
- 77537.6719, 77431.3594, 77473.9219, 77473.9219, 77550.9219, 77449.8828,
- 77436.2109, 77363.9844, 77488.7188, 77488.7188, 77370.8125, 77348.1719,
- 77352.4688, 77305.5234, 77301.625, 77301.625, 77302.5078, 77266.4375,
- 77277.3125, 77180.5, 77173.4766, 77173.4766, 77155.9609, 77066.2422,
- 77218.9297, 77158.0312, 77066.6484, 77066.6484, 77085.1797, 77159.1484,
- 77129.2891, 77107.9062, 77075.0781, 77075.0781, 77001.0156, 77123.3125,
- 76997.3281, 76983.0469, 77057.8672, 77057.8672, 77101.7969, 76957.7188,
- 77014.5625, 76967.8203, 76940.4766, 76940.4766, 76871.0547, 76872.0312,
- 76830.0391, 76765.9688, 76765.1562, 76765.1562, 76857.3672, 76710.6562,
- 76797.6406, 76734.0625, 76759.2188, 76759.2188, 76640.125, 76708.7422,
- 76697.0938, 76612.1719, 76672.8281, 76672.8281, 76683.5703, 76613.1328,
- 76710.875, 76580.1484, 76504.1094, 76504.1094, 76495.6953, 76546.7734,
- 76563.4062, 76568.6406, 76532.6953, 76532.6953, 76563.3906, 76437.8984,
- 76466.3047, 76435.1406, 76395.8281, 76395.8281, 76349.8828, 76358.5234,
- 76356.7422, 76359.2969, 76315.6016, 76315.6016, 76427.1016, 76530.7266,
- 76523.2969, 76643.6875, 76762.1172, 76762.1172, 76837.0312, 76818.5703,
- 76893.5469, 76898.2969, 76800.1875, 76800.1875, 76772.8203, 76785.1562,
- 76778.2188, 76748.4375, 76765.0703, 76765.0703, 76754.0547, 76725.5312,
- 76729.3906, 76703.4609, 76737.3359, 76737.3359, 76684.6953, 76655.9297,
- 76605.4922, 76624.1953, 76581.2344, 76581.2344, 76579.7188, 76566.8984,
- 76513.4609, 76471.3125, 76449.5625, 76449.5625, 76415.3594, 76482.1797,
- 76420.9609, 76448.3438, 76395.0312, 76395.0312, 76385.2188, 76390.3359,
- 76348.9062, 76338.5234, 76333.0469, 76333.0469, 76363.9688, 76354.1953,
- 76262.3828, 76247.7734, 76250.2109, 76250.2109, 76268.7422, 76272.7188,
- 76204.2734, 76175.1016, 76140.2891, 76140.2891, 76082.25, 76095.0312,
- 76114.8359, 76071.2969, 76101.6094, 76101.6094, 76004.3906, 75997.5391,
- 75959.3594, 76010.7656, 76029.3828, 76029.3828, 75982.7578, 75915.0391,
- 75959.4688, 75984.7422, 75913.4141, 75913.4141, 75877.8438, 75935.125,
- 75912.7734, 75908.2656, 75833.9375, 75833.9375, 75791.7891, 75782.2969,
- 75795.3203, 75801.6484, 75748.0156, 75748.0156, 75735.2812, 75757.0625,
- 75739.2578, 75691.7891, 75716.9375, 75716.9375, 75659.2188, 75632.4062,
- 75624.2891, 75609.5234, 75575.4375, 75575.4375, 75600.9141, 75559.2109,
- 75573.7734, 75546.1484, 75571.2188, 75571.2188, 75473.1094, 75483.4141,
- 75543.2109, 75492.0547, 75473.1484, 75473.1484, 75395.5078, 75404.6797,
- 75374.1719, 75360.3359, 75365.3281, 75365.3281, 75347.5469, 75329.7344,
- 75297.7266, 75292.8984, 75285.1484, 75285.1484, 75267.5938, 75253.6406,
- 75250.7578, 75232.5469, 75265.4062, 75265.4062, 75237.6875, 75210.1016,
- 75235.625, 75158.5391, 75169.125, 75169.125, 75131.5312, 75113.0312,
- 75124.2734, 75095.0234, 75088.5703, 75088.5703, 75065.2969, 75049.4688,
- 75025.3359, 75025.25, 75010.6484, 75010.6484, 75021.1406, 75004.875,
- 75007.3906, 74961.1797, 74952.9453, 74952.9453, 74921.6016, 74917.2969,
- 74905.1719, 74895.1094, 74886.9922, 74886.9922, 74877.6719, 74840.5938,
- 74797.4688, 74832.6406, 74784.6875, 74784.6875, 74783.8672, 74772.9531,
- 74795.625, 74768.0859, 74758.4688, 74758.4688, 74725.4453, 74691.8125,
- 74708.0391, 74694.9766, 74694.0859, 74694.0859, 74647.4141, 74660.8438,
- 74680.3594, 74656.7891, 74634.7188, 74634.7188, 74654.75, 74613.2109,
- 74630.6172, 74581.2031, 74590.5312, 74590.5312, 74678.9141, 74700.8203,
- 74778.3438, 74814.125, 74906.0469, 74906.0469, 75025.7266, 75106.8984,
- 75175.6172, 75213.1484, 75192.9453, 75192.9453, 74854.5938, 74636.1016,
- 74468.6016, 74422.6406, 74413.1875, 74413.1875, 74397.5938, 74383.9219,
- 74380.9609, 74369.3203, 74353.2578, 74353.2578, 74337.8359, 74319.0938,
- 74308.1797, 74300.875, 74289.1562, 74289.1562, 74269.6094, 74260.6094,
- 74251.2734, 74238.5, 74230.5859, 74230.5859, 74215.3125, 74208.375,
- 74196.6953, 74184.6875, 74176.8516, 74176.8516, 74162.5703, 74155.3125,
- 74140.3438, 74135.3516, 74122.0859, 74122.0859, 74108.8516, 74099.3203,
- 74092.3828, 74079.9297, 74072.0625, 74072.0625, 74054.1094, 74036.8281,
- 74027.5, 74016.1406, 74003.4453, 74003.4453, 73987.0156, 73973.4609,
- 73962.6328, 73955.1719, 73948.0703, 73948.0703, 73930.1562, 73923.9453,
- 73913.7656, 73907.5156, 73891.8203, 73891.8203, 73879, 73868.375,
- 73858.5156, 73850.3203, 73846.0625, 73846.0625, 73827.3047, 73818.375,
- 73808.4766, 73796.5156, 73786.6953, 73786.6953, 73774.1406, 73763.2734,
- 73754.75, 73745.1797, 73732.6406, 73732.6406, 73716.4219, 73708.4766,
- 73697.9297, 73683.5234, 73678.4922, 73678.4922, 73671.7656, 73652.5391,
- 73641.9922, 73638.1406, 73625.1562, 73625.1562, 73614.1172, 73604.7891,
- 73588.3594, 73586.2109, 73573.3906, 73573.3906, 73557.9922, 73548.4219,
- 73539.4531, 73532.3516, 73525.4609, 73525.4609, 73509.0469, 73499.2344,
- 73496.8828, 73488.9297, 73480.1719, 73480.1719, 73470.1719, 73459.5,
- 73449.5625, 73443.8828, 73435.2422, 73435.2422, 73421.7344, 73416.1797,
- 73405.0625, 73395.6562, 73387.4141, 73387.4141, 73371.5781, 73364.1172,
- 73350, 73338.4766, 73339.7734, 73339.7734, 73322.3906, 73310.7109,
- 73299.1875, 73295.7422, 73286.0859, 73286.0859, 73276.6328, 73263.6094,
- 73256.5078, 73246.25, 73234.2422, 73234.2422, 73228.8672, 73219.8203,
- 73208.5078, 73205.4219, 73196.1719, 73196.1719, 73178.2891, 73174.7188,
- 73168.1094, 73157.1562, 73148.8359, 73148.8359, 73140.4141, 73133.2344,
- 73128.6875, 73122.0391, 73120.25, 73120.25, 73100.1328, 73091.6094,
- 73084.0234, 73079.5625, 73072.3047, 73072.3047, 73059.8516, 73054.625,
- 73048.8594, 73036.6094, 73034.9453, 73034.9453, 73021.6406, 73013.8906,
- 73001.7188, 72995.7969, 72993.125, 72993.125, 72980.1016, 72970.0469,
- 72964.5703, 72960.875, 72944.4844, 72944.4844, 72937.9609, 72929.2422,
- 72916.9062, 72913.9062, 72911.3906, 72911.3906, 72902.7422, 72888.2266,
- 72874.1094, 72876.9062, 72867.0469, 72867.0469, 72853.6094, 72847.6875,
- 72840.1016, 72834.1406, 72831.4219, 72831.4219, 72818.375, 72814.5234,
- 72804.1797, 72797.0781, 72785.8047, 72785.8047, 72780.8438, 72772.5703,
- 72766.2422, 72762.4688, 72755.0078, 72755.0078, 72746.9844, 72741.9531,
- 72728.0781, 72729.5, 72721.4297, 72721.4297, 72707.6719, 72705.6094,
- 72700.4531, 72695.2656, 72688.125, 72688.125, 72677.4141, 72671.6172,
- 72666.1406, 72656.3203, 72652.0625, 72652.0625, 72641.0078, 72634.1484,
- 72632.3203, 72627.9844, 72619.2188, 72619.2188, 72612.5781, 72603.1641,
- 72600.7734, 72590.8359, 72583.9375, 72583.9375, 72578.9219, 72567.0781,
- 72568.5391, 72558.5156, 72555.5938, 72555.5938, 72546.0078, 72540.6172,
- 72538.6641, 72530.1875, 72523.8203, 72523.8203, 72517.3594, 72513.3438,
- 72505.6406, 72497.1172, 72489.2109, 72489.2109, 72487.5469, 72477.3203,
- 72474.3203, 72467.0625, 72463.0078, 72463.0078, 72457.8516, 72449.1641,
- 72445.5156, 72438.9453, 72435.2109, 72435.2109, 72425.2188, 72419.2188,
- 72414.9531, 72412.3594, 72407.4531, 72407.4531, 72394.8203, 72392.4688,
- 72384.8359, 72382, 72376.3594, 72376.3594, 72369.3672, 72363.2422,
- 72352.5781, 72353.875, 72346.25, 72346.25, 72341.8906, 72333.7031,
- 72331.0234, 72325.0156, 72322.3047, 72322.3047, 72316.2031, 72310.0391,
- 72302.5312, 72302.4922, 72292.5156, 72292.5156, 72289.0391, 72282.4297,
- 72280.3984, 72277.1953, 72269.9766, 72269.9766, 72256.6094, 72257.9141,
- 72252.8828, 72251.1406, 72243.7969, 72243.7969, 72237.1484, 72233.25,
- 72228.9141, 72227.3281, 72224.4531, 72224.4531, 72215.9062, 72210.3438,
- 72207.625, 72205.1562, 72202.3125, 72202.3125, 72193.1406, 72188.1875,
- 72179.1797, 72181.4531, 72175.6562, 72175.6562, 72172.4609, 72164.1875,
- 72162.3594, 72157.25, 72156.1172, 72156.1172, 72149.5703, 72142.9609,
- 72137.7266, 72138.4141, 72134.3203, 72134.3203, 72130.6719, 72127.0625,
- 72125.6016, 72119.1562, 72114.7344, 72114.7344, 72109.2891, 72105.1094,
- 72100.2422, 72097.8516, 72095.8203, 72095.8203, 72086.0078, 72084.1406,
- 72076.0312, 72073.6797, 72070.7969, 72070.7969, 72072.0391, 72067.6641,
- 72063.4844, 72056.0625, 72058.4531, 72058.4531, 72054.2734, 72049.0859,
- 72047.8672, 72040, 72040.5625, 72040.5625, 72033.1484, 72032.0938,
- 72031.3672, 72026.0078, 72022.3203, 72022.3203, 72020.9688, 72017.0312,
- 72009.6484, 72010.4219, 72006.1562, 72006.1562, 72003.1797, 72000.3828,
- 71996.2031, 71995.9141, 71992.2656, 71992.2656, 71982.5547, 71982.7969,
- 71985.3906, 71974.5625, 71978.9453, 71978.9453, 71973.4609, 71971.3125,
- 71968.875, 71965.2656, 71964.1719, 71964.1719, 71954.9062, 71958.0703,
- 71952.3516, 71957.3828, 71950.8906, 71950.8906, 71947.3438, 71939.3125,
- 71942.5547, 71940.6484, 71936.0703, 71936.0703, 71934.375, 71930.6484,
- 71926.1797, 71927.9297, 71921.5547, 71921.5547, 71921.7109, 71915.8281,
- 71917.4141, 71916.4766, 71911.7734, 71911.7734, 71907.0938, 71907.0469,
- 71905.4688, 71902.2266, 71892.4062, 71892.4062, 71906.5547, 71897.2266,
- 71896.3359, 71893.4141, 71889.9688, 71889.9688, 71891.6719, 71886.6406,
- 71888.6328, 71882.1797, 71881.6953, 71881.6953, 71878.4688, 71874.125,
- 71877.0469, 71875.9141, 71876.5625, 71876.5625, 71867.3828, 71871.1172,
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- 84724.1094, 84728.2812, 84726.0078, 84726.0078, 84728.0391, 84728.8125,
- 84719.3281, 84723.9922, 84726.0938, 84726.0938, 84724.8984, 84727.1719,
- 84722.3906, 84724.1719, 84723.7656, 84723.7656, 84722.0938, 84723.875,
- 84724.1641, 84724.8125, 84720.0312, 84720.0312, 84728.8594, 84723.4297,
- 84725.6172, 84723.9609, 84728.0938, 84728.0938, 84726.7422, 84721.9219,
- 84725.4062, 84724.7969, 84721.5547, 84721.5547, 84725.4297, 84725.3828,
- 84728.6328, 84728.3828, 84725.4688, 84725.4688, 84723.5078, 84727.4766,
- 84729.2656, 84719.4531, 84723.5859, 84723.5859, 84724.8594, 84724.4141,
- 84727.5781, 84723.7266, 84723.8906, 84723.8906, 84731.5156, 84729.1172,
- 84726.6484, 84723.3672, 84720.4844, 84720.4844, 84726.4141, 84728.2422,
- 84726.0469, 84719.6016, 84719.7266, 84719.7266, 84722.8203, 84725.6562,
- 84723.75, 84721.1562, 84720.3906, 84720.3906, 84734.4609, 84729.5156,
- 84724.7344, 84725.75, 84729.1094, 84729.1094, 84726.7266, 84724.1719,
- 84729.4453, 84721.5781, 84727.8594, 84727.8594, 84724.5391, 84729.1953,
- 84724.1719, 84730.7812, 84727.375, 84727.375, 84727.6562, 84727.0078,
- 84731.1016, 84723.6016, 84726.3984, 84726.3984, 84726.4375, 84725.4219,
- 84726.4375, 84723.1094, 84728.1797, 84728.1797, 84730.4922, 84725.1875,
- 84725.2656, 84724.375, 84728.3438, 84728.3438, 84724.0156, 84723.6094,
- 84726.0781, 84725.1875, 84725.4297, 84725.4297, 84724.2734, 84726.0156,
- 84727.2344, 84721.7969, 84724.9219, 84724.9219, 84728.4766, 84726.7344,
- 84729.9766, 84729.3672, 84722.0312, 84722.0312, 84725.3203, 84723.7812,
- 84722.2422, 84725.8906, 84721.875, 84721.875, 84725.7188, 84729.4062,
- 84722.3516, 84726.0469, 84721.3438, 84721.3438, 84727.8281, 84727.7422,
- 84728.0312, 84726.0391, 84729.125, 84729.125, 84729.8594, 84722.8828,
- 84720.1641, 84728.3125, 84724.75, 84724.75, 84725.5, 84727,
- 84730.2422, 84727, 84721.0391, 84721.0391, 84732.1562, 84726.5156,
- 84721.3281, 84726.7188, 84723.9219, 84723.9219, 84723.875, 84728.8984,
- 84723.1406, 84722.8203, 84723.6719, 84723.6719, 84726.9766, 84725.1094,
- 84723.4844, 84726.8125, 84725.9609, 84725.9609, 84723.9062, 84722.8906,
- 84724.5547, 84720.9453, 84722.8516, 84722.8516, 84726.8984, 84727.1797,
- 84726.25, 84723.125, 84721.1406, 84721.1406, 84723.4141, 84726.0469,
- 84720.6562, 84726.0938, 84722.9297, 84722.9297, 84725.4766, 84720.1641,
- 84726.1641, 84725.8828, 84724.8281, 84724.8281, 84724.625, 84730.6641,
- 84721.9531, 84721.3828, 84723.0859, 84723.0859, 84723.6719, 84717.4219,
- 84726.3828, 84725.4922, 84719.4922, 84719.4922, 84727.4141, 84727.6172,
- 84724.0078, 84726.4453, 84719.3516, 84719.3516, 84720.6875, 84725.1484,
- 84728.7188, 84723.8125, 84721.9844, 84721.9844, 84726.8672, 84726.4219,
- 84731.9766, 84720.7031, 84725.5703, 84725.5703, 84726.2656, 84726.5859,
- 84723.5078, 84720.625, 84721.4375, 84721.4375, 84724.6094, 84725.1406,
- 84722.7109, 84726.3594, 84721.8594, 84721.8594, 84725.8047, 84730.3828,
- 84724.9531, 84724.3438, 84723.6953, 84723.6953, 84725.0469, 84722.5312,
- 84730.3906, 84724.1484, 84725.8516, 84725.8516, 84725.8906, 84721.3906,
- 84726.2969, 84722.3203, 84723.3359, 84723.3359, 84722.9531, 84725.5469,
- 84724.3281, 84721.2891, 84724.4531, 84724.4531, 84728.0703, 84725.7188,
- 84726.6094, 84719.2734, 84721.625, 84721.625, 84725.9688, 84722.5625,
- 84723.8203, 84726.0938, 84718.9141, 84718.9141, 84727.3047, 84721.3438,
- 84723.2891, 84721.4688, 84725.8906, 84725.8906, 84725.8047, 84723.2109,
- 84722.4062, 84725.1172, 84721.3516, 84721.3516, 84728.3359, 84722.5,
- 84724.1562, 84719.0938, 84725.3359, 84725.3359, 84725.5938, 84722.0234,
- 84724.0078, 84724.0078, 84722.9531, 84722.9531, 84720.1406, 84724.7969,
- 84725.6484, 84725.7734, 84720.8281, 84720.8281, 84725.6172, 84725.5391,
- 84723.9141, 84722.7344, 84720.3906, 84720.3906, 84729.2109, 84725.6484,
- 84726.8203, 84725.8906, 84727.4297, 84727.4297, 84724.7578, 84721.6406,
- 84725.8984, 84718.3984, 84721.1953, 84721.1953, 84718.8828, 84725.9766,
- 84723.7891, 84720.1406, 84720.6719, 84720.6719, 84723.9219, 84719.9922,
- 84722.6641, 84722.2188, 84724.25, 84724.25, 84725.8047, 84725.3203,
- 84718.4297, 84723.4531, 84727.1406, 84727.1406, 84722.4219, 84722.5781,
- 84722.4609, 84722.8672, 84723.5156, 84723.5156, 84723.6875, 84725.4688,
- 84722.5547, 84719.2266, 84718.4609, 84718.4609, 84722.9219, 84721.875,
- 84721.875, 84717.2891, 84722.9219, 84722.9219, 84722.1172, 84718.8359,
- 84724.5938, 84720.5781, 84725.9688, 84725.9688, 84721.8047, 84719.6172,
- 84722.1719, 84722.8203, 84721.8047, 84721.8047, 84723.2188, 84720.8672,
- 84721.6016, 84721.6016, 84720.7891, 84720.7891, 84721.2969, 84722.875,
- 84723.5234, 84722.1875, 84724.0547, 84724.0547, 84721.5781, 84719.3906,
- 84727.0078, 84723.1953, 84722.7891, 84722.7891, 84724, 84719.0156,
- 84719.2188, 84720.8438, 84722.625, 84722.625, 84719.8672, 84721.5312,
- 84720.4375, 84718.1641, 84717.5547, 84717.5547, 84725.5469, 84726.4766,
- 84721.8984, 84719.0547, 84720.2344, 84720.2344, 84720.2422, 84722.2656,
- 84719.2656, 84720.2031, 84722.3125, 84722.3125, 84717.8125, 84727.75,
- 84720.25, 84721.3047, 84720.9375, 84720.9375, 84723.5, 84718.0703,
- 84717.8672, 84722.4453, 84716.4453, 84716.4453, 84720.7578, 84720.1094,
- 84719.3828, 84721.3281, 84718.8516, 84718.8516, 84724.6953, 84721.8203,
- 84721.1719, 84718.0859, 84721.0078, 84721.0078, 84721.7109, 84720.25,
- 84723.1328, 84724.8359, 84720.0938, 84720.0938, 84725.1406, 84721.125,
- 84720.5625, 84722.0625, 84718.2109, 84718.2109, 84717.3281, 84719.3125,
- 84722.6797, 84722.8828, 84723.6953, 84723.6953, 84715.8359, 84718.9609,
- 84724.8359, 84720.6172, 84722.4453, 84722.4453, 84718.7734, 84724.8125,
- 84719.5, 84719.0938, 84718.9297, 84718.9297, 84722.4219, 84723.3125,
- 84719.6641, 84723.1484, 84718.2031, 84718.2031, 84720.8906, 84720.4062,
- 84725.6406, 84717.7734, 84718.0938, 84718.0938, 84719.4453, 84721.5156,
- 84722.8516, 84721.5156, 84720.8672, 84720.8672, 84725.5781, 84723.1094,
- 84721.5234, 84719.7422, 84712.7266, 84712.7266, 84717.2812, 84717.125,
- 84718.8281, 84720.9766, 84715.8672, 84715.8672, 84719.9375, 84719.2891,
- 84719.3281, 84718.3594, 84717.5859, 84717.5859, 84716.6016, 84724.5078,
- 84719.3125, 84717.0078, 84718.0625, 84718.0625, 84727.8281, 84720.6562,
- 84722.0703, 84722.2734, 84724.1406, 84724.1406, 84717.8516, 84716.2344,
- 84718.2578, 84718.5859, 84718.9453, 84718.9453, 84723.7109, 84718.8438,
- 84723.1406, 84718.6016, 84718.4375, 84718.4375, 84723.2344, 84722.2969,
- 84724.8125, 84719.9453, 84721, 84721, 84720.4141, 84721.7109,
- 84718.0156, 84717.7344, 84718.9141, 84718.9141, 84721.1406, 84723.5312,
- 84725.2734, 84720.4922, 84715.75, 84715.75, 84721.875, 84718.3906,
- 84721.2656, 84721.4297, 84720.9062, 84720.9062, 84722.0469, 84720.4219,
- 84718.6406, 84718.4375, 84722.8203, 84722.8203, 84723.1094, 84723.4766,
- 84721.4453, 84718.2422, 84720.4375, 84720.4375, 84719.7344, 84720.2578,
- 84718.4375, 84715.3125, 84725.4922, 84725.4922, 84722.4531, 84716.5391,
- 84720.7969, 84723.7109, 84717.6328, 84717.6328, 84717.4141, 84721.8672,
- 84718.2188, 84713.1562, 84717.6172, 84717.6172, 84724.8281, 84722.4297,
- 84721.7812, 84720.7734, 84720.3672, 84720.3672, 84724.2188, 84718.7031,
- 84717.2031, 84717.2422, 84717.5703, 84717.5703, 84719.2031, 84718.6406,
- 84713.5312, 84719.6875, 84714.9062, 84714.9062, 84723.3047, 84722.0859,
- 84724.1953, 84718.2344, 84721.1953, 84721.1953, 84721.3125, 84719.5234,
- 84723.8203, 84718.9141, 84722.0781, 84722.0781, 84722.8906, 84718.2266,
- 84722.6094, 84715.5547, 84721.875, 84721.875, 84724.0078, 84719.9141,
- 84723.1953, 84719.5469, 84716.625, 84716.625, 84726.7109, 84720.875,
- 84716.375, 84717.9922, 84716.8203, 84716.8203, 84717.2578, 84718.8438,
- 84713.2891, 84717.0547, 84715.2734, 84715.2734, 84722.1719, 84726.1016,
- 84721.5234, 84716.8203, 84720.4688, 84720.4688, 84719.8516, 84723.0156,
- 84719.4922, 84715.6016, 84722.8984, 84722.8984, 84719.1562,
-};
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.h b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.h
deleted file mode 100644
index 282a02589..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_press_data.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-/**
- * MS5803 pressure data from Lynx flight test in Roccaraso.
- * Sampled at 66 Hz (15 ms period).
- */
-static constexpr unsigned PRESSURE_DATA_SIZE = 8615;
-extern const float PRESSURE_DATA[PRESSURE_DATA_SIZE];
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
deleted file mode 100644
index 7b7641fab..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.cpp
+++ /dev/null
@@ -1,924 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "lynx_pressure_static_data.h"
-
-const float PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE] = {
- 88731.4141, 89149.5781, 88796.1328, 89030.1094, 89119.6953, 88875.7891,
- 88895.6875, 88746.3516, 88860.8438, 88915.6016, 88850.8906, 88855.8672,
- 88875.7891, 88930.5312, 88845.8984, 88935.5078, 88865.8203, 88920.5781,
- 88811.0547, 88830.9766, 88811.0547, 88850.8906, 88821.0156, 88796.1328,
- 88835.9609, 88791.1562, 88811.0547, 88786.1797, 88811.0547, 88746.3516,
- 88731.4141, 88771.2422, 88731.4141, 88751.3281, 88746.3516, 88696.5703,
- 88691.5938, 88636.8359, 88661.7188, 88671.6875, 88597.0078, 88606.9609,
- 88616.9219, 88621.8984, 88621.8984, 88502.4219, 88507.3984, 88587.0547,
- 88477.5391, 88552.2109, 88477.5391, 88527.3203, 88482.5156, 88437.7109,
- 88422.7734, 88377.9688, 88402.8594, 88387.9297, 88402.8594, 88397.8828,
- 88363.0391, 88263.4844, 88213.7031, 88188.8047, 88158.9453, 88213.7031,
- 88163.9141, 88099.2031, 88074.3125, 88168.8984, 88119.1094, 88089.2422,
- 87999.6328, 88019.5547, 87944.875, 88004.6172, 87910.0234, 87860.2578,
- 87845.3203, 87790.5547, 87845.3203, 87800.5156, 87720.8672, 87750.7344,
- 87715.8828, 87686.0234, 87636.2344, 87651.1797, 87616.3359, 87606.3672,
- 87526.7266, 87481.9141, 87566.5469, 87417.2031, 87417.2031, 87412.2266,
- 87317.6484, 87322.6172, 87347.5156, 87247.9375, 87158.3516, 87228.0391,
- 87252.9297, 87103.5859, 87073.7266, 86979.1328, 87113.5469, 87168.2969,
- 87058.7812, 87138.4375, 87013.9766, 87043.8516, 86889.5312, 86974.1484,
- 86859.6641, 86745.1641, 86760.1016, 86710.3203, 86511.2031, 86600.8047,
- 86451.4609, 86431.5469, 86421.5938, 86361.8516, 86312.0781, 86212.5156,
- 86207.5312, 86167.7109, 86222.4766, 85943.7031, 86053.2188, 86112.9453,
- 85943.7031, 85893.9219, 85874.0156, 85804.3047, 85774.4453, 85595.2266,
- 85605.1875, 85530.5156, 85580.2969, 85525.5391, 85485.7109, 85455.8516,
- 85406.0781, 85341.3516, 85261.7031, 85231.8359, 85196.9922, 85172.1016,
- 85057.6016, 85027.7344, 85152.1797, 85341.3516, 85401.0859, 85256.7188,
- 85196.9922, 85052.6328, 84818.6641, 84748.9609, 84893.3281, 84694.2031,
- 85142.2344, 85037.6875, 85072.5312, 84987.9062, 85142.2344, 85117.3438,
- 84609.5781, 84948.0859, 84808.7031, 84619.5391, 84629.4844, 84559.7891,
- 84604.6016, 84440.3281, 84390.5469, 84380.5859, 84091.8594, 84206.3594,
- 84246.1797, 84111.7734, 84191.4219, 84037.1016, 83967.3984, 84012.2109,
- 84007.2344, 83813.0859, 83837.9766, 83852.9062, 83862.8672, 83833,
- 83773.2656, 83633.8828, 83514.3984, 83604.0078, 83504.4453, 83549.25,
- 83335.1953, 83345.1484, 83399.9141, 83350.125, 83265.4922, 83365.0703,
- 83195.8047, 83250.5625, 83101.2266, 83026.5469, 83021.5781, 82936.9531,
- 82931.9766, 82936.9531, 82777.6562, 82757.7344, 82623.3281, 82772.6719,
- 82752.7656, 82722.8828, 82658.1719, 82638.2578, 82533.7188, 82483.9375,
- 82533.7188, 82379.3984, 82394.3438, 82404.2891, 82314.6875, 82284.8203,
- 82220.1094, 82205.1797, 82160.375, 82120.5469, 82030.9375, 82050.8516,
- 82030.9375, 81956.2578, 81941.3281, 81951.2969, 81911.4688, 81851.7266,
- 81796.9688, 81742.2109, 81801.9531, 81697.4219, 81657.5938, 81582.9062,
- 81577.9375, 81528.1562, 81508.2422, 81562.9922, 81433.5703, 81408.6875,
- 81443.5234, 81319.0859, 81338.9922, 81284.2344, 81274.2656, 81309.1172,
- 81134.8906, 81204.5859, 81090.0859, 81134.8906, 81060.2188, 80995.5156,
- 81010.4375, 80965.6328, 80876.0312, 80930.7891, 80900.9141, 80801.3594,
- 80806.3359, 80766.5078, 80746.5938, 80657, 80711.75, 80632.1016,
- 80647.0312, 80592.2812, 80572.3672, 80482.7656, 80467.8281, 80502.6719,
- 80482.7656, 80423.0234, 80313.5078, 80298.5703, 80154.2109, 80114.3906,
- 80139.2734, 80149.2344, 80074.5625, 80084.5234, 79989.9297, 79989.9297,
- 79999.8828, 79935.1797, 79945.1328, 79910.2812, 79840.5938, 79830.6328,
- 79855.5312, 79805.7422, 79770.8984, 79780.8516, 79691.2422, 79671.3438,
- 79631.5156, 79611.6016, 79616.5859, 79551.875, 79591.6797, 79467.2422,
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- 87780.6016, 87775.625, 87780.6016, 87780.6016, 87770.6484, 87775.625,
- 87775.625, 87780.6016, 87785.5859, 87775.625, 87775.625, 87785.5859,
- 87780.6016, 87780.6016, 87775.625, 87780.6016, 87775.625, 87780.6016,
- 87770.6484, 87770.6484, 87780.6016, 87775.625, 87785.5859, 87780.6016,
- 87780.6016, 87775.625, 87780.6016, 87780.6016, 87780.6016, 87780.6016,
- 87780.6016, 87775.625, 87775.625, 87765.6719, 87775.625, 87775.625,
- 87775.625, 87785.5859, 87775.625, 87780.6016, 87775.625, 87785.5859,
- 87780.6016, 87780.6016, 87780.6016, 87780.6016, 87775.625, 87775.625,
- 87780.6016, 87770.6484, 87775.625, 87770.6484, 87785.5859, 87780.6016,
- 87775.625, 87775.625, 87775.625, 87780.6016, 87780.6016, 87775.625,
- 87770.6484, 87780.6016, 87780.6016, 87780.6016, 87780.6016, 87780.6016,
- 87780.6016, 87780.6016, 87780.6016, 87785.5859, 87775.625, 87775.625,
- 87775.625, 87780.6016, 87775.625, 87770.6484, 87775.625, 87780.6016,
- 87780.6016, 87775.625, 87775.625, 87775.625, 87780.6016, 87780.6016,
- 87775.625, 87780.6016, 87780.6016, 87780.6016, 87780.6016, 87780.6016,
- 87770.6484, 87780.6016, 87780.6016, 87785.5859, 87770.6484, 87780.6016,
- 87770.6484, 87780.6016, 87780.6016, 87780.6016, 87785.5859, 87780.6016,
- 87775.625, 87775.625, 87765.6719, 87780.6016, 87780.6016, 87775.625,
- 87785.5859, 87770.6484, 87780.6016, 87780.6016, 87785.5859, 87785.5859,
- 87775.625, 87775.625, 87775.625, 87775.625, 87775.625, 87775.625,
- 87770.6484, 87780.6016, 87775.625, 87780.6016, 87770.6484, 87780.6016,
- 87780.6016, 87780.6016, 87770.6484, 87780.6016, 87780.6016, 87775.625,
- 87785.5859, 87775.625, 87775.625, 87770.6484, 87780.6016, 87775.625,
- 87780.6016, 87780.6016, 87780.6016, 87775.625, 87775.625, 87780.6016,
- 87780.6016, 87775.625, 87780.6016, 87780.6016, 87780.6016, 87770.6484,
- 87780.6016, 87780.6016, 87775.625, 87775.625, 87775.625, 87775.625,
- 87775.625, 87780.6016, 87780.6016, 87770.6484, 87780.6016, 87765.6719,
- 87780.6016, 87770.6484, 87775.625, 87770.6484, 87775.625, 87775.625,
- 87775.625, 87780.6016, 87780.6016, 87770.6484, 87780.6016, 87770.6484,
- 87775.625, 87775.625, 87775.625, 87785.5859, 87775.625, 87775.625,
- 87775.625, 87780.6016, 87770.6484, 87785.5859, 87785.5859, 87775.625,
- 87775.625, 87775.625, 87780.6016, 87775.625, 87780.6016, 87775.625,
- 87770.6484, 87775.625, 87780.6016, 87785.5859, 87775.625, 87770.6484,
- 87775.625, 87765.6719, 87780.6016, 87775.625, 87785.5859, 87770.6484,
- 87770.6484, 87780.6016, 87780.6016, 87770.6484, 87780.6016, 87775.625,
- 87775.625, 87775.625, 87775.625, 87780.6016, 87775.625, 87780.6016,
- 87770.6484, 87775.625, 87775.625, 87780.6016, 87775.625, 87770.6484,
- 87770.6484, 87775.625, 87775.625, 87775.625, 87770.6484, 87775.625,
- 87775.625, 87770.6484, 87775.625, 87770.6484, 87775.625, 87770.6484,
- 87775.625, 87775.625, 87770.6484, 87765.6719, 87775.625, 87770.6484,
- 87775.625, 87775.625, 87775.625, 87770.6484, 87775.625, 87770.6484,
- 87770.6484, 87770.6484, 87775.625, 87765.6719, 87770.6484, 87775.625,
- 87775.625, 87770.6484, 87770.6484, 87770.6484, 87775.625, 87770.6484,
- 87775.625, 87770.6484, 87775.625, 87775.625, 87770.6484, 87770.6484,
- 87765.6719, 87770.6484, 87770.6484, 87770.6484, 87775.625, 87775.625,
- 87770.6484, 87770.6484, 87775.625, 87770.6484, 87775.625, 87775.625,
- 87775.625, 87775.625, 87770.6484, 87775.625, 87765.6719, 87770.6484,
- 87765.6719, 87770.6484, 87765.6719, 87765.6719, 87765.6719, 87775.625,
- 87775.625, 87765.6719, 87770.6484, 87765.6719, 87770.6484, 87765.6719,
- 87765.6719, 87765.6719, 87770.6484, 87765.6719, 87775.625, 87775.625,
- 87770.6484, 87770.6484, 87770.6484, 87770.6484, 87765.6719, 87775.625,
- 87770.6484, 87770.6484, 87770.6484, 87765.6719, 87765.6719, 87775.625,
- 87770.6484, 87775.625, 87780.6016, 87770.6484, 87770.6484, 87765.6719,
- 87770.6484, 87770.6484, 87770.6484, 87765.6719, 87765.6719, 87765.6719,
- 87765.6719, 87765.6719, 87775.625, 87775.625, 87765.6719, 87760.6953,
- 87765.6719, 87765.6719, 87770.6484, 87770.6484, 87765.6719, 87770.6484,
- 87765.6719, 87770.6484, 87765.6719, 87770.6484, 87765.6719, 87760.6953,
- 87765.6719, 87770.6484, 87760.6953, 87775.625, 87765.6719, 87765.6719,
- 87770.6484, 87765.6719, 87770.6484, 87765.6719, 87765.6719, 87770.6484,
- 87765.6719, 87765.6719, 87775.625, 87765.6719, 87770.6484, 87765.6719,
- 87770.6484, 87770.6484, 87765.6719, 87765.6719, 87770.6484, 87760.6953,
- 87760.6953, 87760.6953, 87765.6719, 87765.6719, 87765.6719, 87770.6484,
- 87765.6719, 87770.6484, 87770.6484, 87770.6484, 87765.6719, 87765.6719,
- 87765.6719, 87770.6484, 87770.6484, 87765.6719, 87760.6953, 87770.6484,
- 87760.6953, 87770.6484, 87770.6484, 87775.625, 87775.625, 87770.6484,
- 87765.6719, 87770.6484, 87760.6953, 87765.6719, 87770.6484, 87775.625,
- 87760.6953, 87770.6484, 87770.6484, 87765.6719, 87770.6484, 87770.6484,
- 87765.6719, 87770.6484, 87765.6719, 87760.6953, 87765.6719, 87765.6719,
- 87770.6484, 87760.6953, 87765.6719, 87765.6719, 87765.6719, 87765.6719,
- 87765.6719, 87765.6719, 87765.6719, 87775.625, 87770.6484, 87770.6484,
- 87760.6953, 87770.6484, 87775.625, 87765.6719, 87755.7109, 87760.6953,
- 87760.6953, 87765.6719,
-};
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.h b/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
deleted file mode 100644
index f28074904..000000000
--- a/src/boards/Parafoil/mocksensors/lynx_flight_data/lynx_pressure_static_data.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Authors: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-/**
- * sTATIC pressure data from Lynx flight test in Roccaraso.
- * Sampled at 42 Hz (24 ms period).
- */
-static constexpr unsigned PRESSURE_STATIC_DATA_SIZE = 5384;
-extern const float PRESSURE_STATIC_DATA[PRESSURE_STATIC_DATA_SIZE];
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.cpp b/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.cpp
deleted file mode 100644
index 0c7d0f7fd..000000000
--- a/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.cpp
+++ /dev/null
@@ -1,14664 +0,0 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Mozzarelli
- *
- * 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 "test-mock-data.h"
-
-const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE] = {
- 101158.8, 100978.8, 101196, 101187.6, 101259.6, 101278.8, 101410.8,
- 101190, 101308.8, 101184, 101368.8, 101226, 101270.4, 101332.8,
- 101074.8, 101311.2, 101244, 101118, 101239.2, 101320.8, 101437.2,
- 101168.4, 101379.6, 101335.2, 101284.8, 101161.2, 101217.6, 101184,
- 101240.4, 101100, 101496, 101292, 101430, 101240.4, 101164.8,
- 101160, 101188.8, 101266.8, 101103.6, 101215.2, 101298, 101134.8,
- 101234.4, 101269.2, 101118, 101089.2, 101187.6, 101270.4, 101224.8,
- 101120.4, 101208, 101166, 101133.6, 101103.6, 100971.6, 101043.6,
- 101130, 101052, 101128.8, 101072.4, 101142, 101108.4, 101206.8,
- 101082, 100965.6, 100947.6, 101005.2, 101016, 101218.8, 101043.6,
- 101006.4, 101107.2, 101036.4, 101037.6, 101138.4, 101100, 101007.6,
- 100960.8, 101024.4, 100856.4, 101028, 100891.2, 100898.4, 100896,
- 100935.6, 101067.6, 100872, 101091.6, 101032.8, 101025.6, 100806,
- 100920, 101070, 100870.8, 100953.6, 100938, 100918.8, 100812,
- 100808.4, 100948.8, 100670.4, 100800, 100737.6, 100819.2, 100813.2,
- 100795.2, 100722, 100680, 100638, 100646.4, 100654.8, 100784.4,
- 100639.2, 100567.2, 100647.6, 100641.6, 100695.6, 100501.2, 100531.2,
- 100416, 100681.2, 100518, 100485.6, 100521.6, 100320, 100417.2,
- 100542, 100718.4, 100425.6, 100240.8, 100357.2, 100299.6, 100356,
- 100302, 100356, 100334.4, 100273.2, 100389.6, 100345.2, 100228.8,
- 100340.4, 100300.8, 100302, 100177.2, 100122, 100126.8, 100070.4,
- 100144.8, 100143.6, 100162.8, 100190.4, 100058.4, 100245.6, 99991.2,
- 100029.6, 99950.4, 100034.4, 100164, 99891.6, 100011.6, 99954,
- 99751.2, 99742.8, 99972, 99973.2, 100005.6, 99957.6, 99794.4,
- 99883.2, 99900, 99868.8, 99601.2, 99734.4, 99626.4, 99463.2,
- 99621.6, 99766.8, 99610.8, 99584.4, 99516, 99852, 99553.2,
- 99634.8, 99444, 99460.8, 99362.4, 99416.4, 99553.2, 99406.8,
- 99357.6, 99172.8, 99350.4, 99264, 99370.8, 99346.8, 99195.6,
- 99136.8, 99068.4, 99160.8, 99285.6, 99258, 99238.8, 99135.6,
- 99087.6, 98980.8, 99030, 99008.4, 98827.2, 99152.4, 98905.2,
- 98864.4, 98886, 98862, 98944.8, 98878.8, 98728.8, 98781.6,
- 98881.2, 98820, 98584.8, 98696.4, 98640, 98684.4, 98701.2,
- 98646, 98463.6, 98611.2, 98522.4, 98571.6, 98396.4, 98484,
- 98529.6, 98280, 98431.2, 98576.4, 98430, 98300.4, 98344.8,
- 98089.2, 98234.4, 98204.4, 98170.8, 98137.2, 98163.6, 98426.4,
- 98166, 98001.6, 98002.8, 98018.4, 97959.6, 97941.6, 98044.8,
- 97903.2, 98001.6, 97825.2, 97765.2, 97704, 97942.8, 97768.8,
- 97868.4, 97839.6, 97524, 97736.4, 97744.8, 97558.8, 97543.2,
- 97584, 97468.8, 97696.8, 97477.2, 97467.6, 97444.8, 97450.8,
- 97336.8, 97222.8, 97311.6, 97261.2, 97311.6, 97322.4, 97209.6,
- 96990, 96921.6, 97089.6, 97126.8, 96904.8, 97246.8, 96854.4,
- 96962.4, 96975.6, 96841.2, 96883.2, 96992.4, 96818.4, 96850.8,
- 96716.4, 96720, 96536.4, 96669.6, 96627.6, 96594, 96616.8,
- 96649.2, 96679.2, 96250.8, 96608.4, 96550.8, 96444, 96391.2,
- 96243.6, 96484.8, 96272.4, 96134.4, 96302.4, 96351.6, 96150,
- 95992.8, 95953.2, 96084, 95959.2, 95928, 95853.6, 96062.4,
- 95856, 95732.4, 95818.8, 95552.4, 95788.8, 95682, 95857.2,
- 95695.2, 95877.6, 95874, 95703.6, 95401.2, 95408.4, 95317.2,
- 95440.8, 95526, 95394, 95337.6, 95377.2, 95296.8, 95116.8,
- 95212.8, 95193.6, 95072.4, 95325.6, 95186.4, 95103.6, 95152.8,
- 94970.4, 94978.8, 95018.4, 94867.2, 95008.8, 94782, 94588.8,
- 94724.4, 94802.4, 94836, 94778.4, 94693.2, 94819.2, 94399.2,
- 94507.2, 94581.6, 94399.2, 94286.4, 94284, 94263.6, 94287.6,
- 94470, 94189.2, 94225.2, 94077.6, 93970.8, 94102.8, 94173.6,
- 94020, 94044, 94075.2, 94016.4, 93832.8, 93958.8, 93870,
- 93718.8, 93607.2, 93849.6, 93698.4, 93459.6, 93648, 93782.4,
- 93702, 93584.4, 93592.8, 93487.2, 93403.2, 93388.8, 93422.4,
- 93453.6, 93423.6, 93349.2, 93588, 93259.2, 93172.8, 93105.6,
- 93265.2, 93229.2, 93211.2, 93043.2, 93192, 93019.2, 93096,
- 92859.6, 92995.2, 92919.6, 92800.8, 92846.4, 92710.8, 92834.4,
- 92778, 92624.4, 92517.6, 92474.4, 92660.4, 92692.8, 92526,
- 92426.4, 92493.6, 92310, 92371.2, 92377.2, 92310, 92226,
- 92505.6, 92484, 92271.6, 92259.6, 92108.4, 92084.4, 92068.8,
- 92042.4, 92175.6, 91982.4, 91990.8, 92082, 91821.6, 91922.4,
- 91867.2, 91879.2, 92061.6, 91701.6, 91623.6, 91791.6, 91750.8,
- 91747.2, 91723.2, 91620, 91633.2, 91692, 91576.8, 91429.2,
- 91479.6, 91398, 91353.6, 91237.2, 91382.4, 91046.4, 91285.2,
- 91117.2, 91224, 91206, 91333.2, 91119.6, 90898.8, 91126.8,
- 90934.8, 90939.6, 90958.8, 90841.2, 90865.2, 90832.8, 90708,
- 90910.8, 90794.4, 90675.6, 90715.2, 90808.8, 90870, 90576,
- 90463.2, 90620.4, 90583.2, 90645.6, 90518.4, 90447.6, 90466.8,
- 90517.2, 90344.4, 90320.4, 90429.6, 90330, 90188.4, 90339.6,
- 90213.6, 90195.6, 90234, 90236.4, 90099.6, 90082.8, 90025.2,
- 89965.2, 90201.6, 90210, 89840.4, 89968.8, 89850, 90031.2,
- 89650.8, 89713.2, 89872.8, 89775.6, 89732.4, 89826, 89662.8,
- 89712, 89490, 89534.4, 89570.4, 89502, 89392.8, 89643.6,
- 89310, 89446.8, 89317.2, 89466, 89222.4, 89372.4, 89260.8,
- 89356.8, 89193.6, 89211.6, 89274, 89140.8, 89103.6, 88778.4,
- 88971.6, 88947.6, 89008.8, 88809.6, 88717.2, 88886.4, 89052,
- 88734, 88762.8, 88780.8, 88588.8, 88574.4, 88945.2, 88728,
- 88722, 88628.4, 88440, 88557.6, 88527.6, 88563.6, 88222.8,
- 88446, 88627.2, 88358.4, 88374, 88381.2, 88231.2, 88154.4,
- 88250.4, 88263.6, 88245.6, 88296, 88183.2, 88246.8, 88155.6,
- 88136.4, 88075.2, 87933.6, 88063.2, 88101.6, 88249.2, 87756,
- 87927.6, 88063.2, 87986.4, 87895.2, 87898.8, 87626.4, 87888,
- 87520.8, 87901.2, 87666, 87642, 87726, 87430.8, 87616.8,
- 87639.6, 87618, 87374.4, 87595.2, 87572.4, 87264, 87655.2,
- 87199.2, 87409.2, 87432, 87156, 87302.4, 87121.2, 87034.8,
- 87172.8, 87260.4, 87241.2, 87096, 87306, 87097.2, 86790,
- 87037.2, 87040.8, 86763.6, 87139.2, 86818.8, 86697.6, 87030,
- 86868, 87025.2, 86898, 86938.8, 86798.4, 86632.8, 86766,
- 86606.4, 86774.4, 86683.2, 86539.2, 86671.2, 86515.2, 86467.2,
- 86571.6, 86526, 86554.8, 86607.6, 86518.8, 86335.2, 86245.2,
- 86316, 86293.2, 86302.8, 86346, 86196, 86212.8, 86276.4,
- 86148, 86050.8, 86090.4, 86214, 86187.6, 86179.2, 85905.6,
- 86024.4, 86140.8, 85767.6, 85840.8, 85954.8, 85971.6, 85980,
- 85816.8, 86030.4, 85624.8, 85702.8, 85764, 85600.8, 85666.8,
- 85789.2, 85629.6, 85510.8, 85730.4, 85670.4, 85411.2, 85686,
- 85322.4, 85594.8, 85412.4, 85744.8, 85513.2, 85416, 85663.2,
- 85446, 85580.4, 85195.2, 85312.8, 85431.6, 85240.8, 85222.8,
- 85114.8, 85198.8, 85038, 85045.2, 85028.4, 85046.4, 85033.2,
- 84813.6, 85240.8, 85040.4, 84973.2, 85040.4, 84806.4, 84775.2,
- 84886.8, 84878.4, 84790.8, 84850.8, 84730.8, 84590.4, 84710.4,
- 84572.4, 84696, 84588, 84477.6, 84464.4, 84534, 84573.6,
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- 68026.8, 68008.8, 68036.4, 68060.4, 67896, 68126.4, 68090.4,
- 67944, 67806, 68047.2, 67910.4, 67791.6, 67866, 67850.4,
- 67974, 67814.4, 68154, 68044.8, 67867.2, 68072.4, 67936.8,
- 67958.4, 68013.6, 67844.4, 67900.8, 67887.6, 67770, 67964.4,
- 67935.6, 67830, 67861.2, 67978.8, 67689.6, 68109.6, 67874.4,
- 67905.6, 67852.8, 67707.6, 67974, 67645.2, 67988.4, 67851.6,
- 68056.8, 67915.2, 67986, 67876.8, 67812, 67741.2, 67920,
- 67884, 67819.2, 67903.2, 67737.6, 67803.6, 67788, 67860,
- 67812, 67716, 67975.2, 67929.6, 67864.8, 67786.8, 67876.8,
- 67868.4, 67706.4, 67944, 67850.4, 67696.8, 67779.6, 67783.2,
- 67850.4, 67682.4, 67714.8, 67808.4, 67786.8, 67927.2, 67790.4,
- 67946.4, 67687.2, 67790.4, 67720.8, 67622.4, 67597.2, 67701.6,
- 67731.6, 67725.6, 67798.8, 67826.4, 67932, 67638, 67668,
- 67628.4, 67668, 67704, 67857.6, 67658.4, 67623.6, 67771.2,
- 67672.8, 67842, 67764, 67676.4, 67602, 67780.8, 67611.6,
- 67788, 67716, 67688.4, 67660.8, 67836, 67804.8, 67855.2,
- 67912.8, 67545.6, 67722, 67572, 67542, 67701.6, 67578,
- 67658.4, 67802.4, 67663.2, 67580.4, 67556.4, 67768.8, 67617.6,
- 67693.2, 67455.6, 67747.2, 67602, 67681.2, 67682.4, 67658.4,
- 67602, 67545.6, 67570.8, 67594.8, 67506, 67606.8, 67482,
- 67596, 67569.6, 67622.4, 67572, 67629.6, 67567.2, 67608,
- 67580.4, 67494, 67622.4, 67582.8, 67671.6, 67563.6, 67646.4,
- 67754.4, 67574.4, 67538.4, 67527.6, 67596, 67412.4, 67558.8,
- 67660.8, 67580.4, 67510.8, 67530, 67712.4, 67520.4, 67633.2,
- 67584, 67611.6, 67635.6, 67536, 67550.4, 67537.2, 67455.6,
- 67414.8, 67550.4, 67656, 67668, 67564.8, 67538.4, 67557.6,
- 67404, 67474.8, 67639.2, 67538.4, 67791.6, 67834.8, 67508.4,
- 67586.4, 67468.8, 67466.4, 67460.4, 67648.8, 67527.6, 67423.2,
- 67689.6, 67642.8, 67504.8, 67486.8, 67502.4, 67413.6, 67558.8,
- 67546.8, 67492.8, 67365.6, 67489.2, 67531.2, 67417.2, 67467.6,
- 67440, 67496.4, 67527.6, 67600.8, 67327.2, 67387.2, 67513.2,
- 67532.4, 67634.4, 67462.8, 67399.2, 67513.2, 67402.8, 67341.6,
- 67586.4, 67621.2, 67496.4, 67371.6, 67460.4, 67460.4, 67288.8,
- 67405.2, 67467.6, 67506, 67599.6, 67549.2, 67450.8, 67490.4,
- 67540.8, 67428, 67471.2, 67542, 67453.2, 67495.2, 67438.8,
- 67437.6, 67422, 67369.2, 67405.2, 67572, 67449.6, 67338,
- 67407.6, 67402.8, 67302, 67479.6, 67603.2, 67482, 67438.8,
- 67479.6, 67322.4, 67356, 67429.2, 67578, 67422, 67412.4,
- 67506, 67376.4, 67332, 67372.8, 67377.6, 67629.6, 67444.8,
- 67492.8, 67500, 67437.6, 67411.2, 67423.2, 67324.8, 67387.2,
- 67317.6, 67440, 67554, 67455.6, 67382.4, 67522.8, 67357.2,
- 67394.4, 67248, 67395.6, 67670.4, 67350, 67250.4, 67240.8,
- 67399.2, 67376.4, 67574.4, 67342.8, 67323.6, 67401.6, 67239.6,
- 67344, 67510.8, 67209.6, 67242, 67436.4, 67285.2, 67261.2,
- 67470, 67272, 67251.6, 67412.4, 67216.8, 67425.6, 67273.2,
- 67314, 67432.8, 67219.2, 67414.8, 67483.2, 67294.8, 67357.2,
- 67245.6, 67420.8, 67436.4, 67459.2, 67399.2, 67233.6, 67377.6,
- 67328.4, 67341.6, 67413.6, 67420.8, 67356, 67293.6, 67363.2,
- 67370.4, 67311.6, 67424.4, 67308, 67198.8, 67324.8, 67327.2,
- 67401.6, 67257.6, 67407.6, 67242, 67490.4, 67338, 67388.4,
- 67305.6, 67384.8, 67245.6, 67514.4, 67510.8, 67249.2, 67222.8,
- 67332, 67561.2, 67215.6, 67506, 67311.6, 67296, 67360.8,
- 67438.8, 67284, 67323.6, 67312.8, 67425.6, 67350, 67178.4,
- 67346.4, 67215.6, 67263.6, 67234.8, 67322.4, 67179.6, 67399.2,
- 67284, 67378.8, 67454.4, 67178.4, 67300.8, 67413.6, 67329.6,
- 67138.8, 67184.4, 67458, 67467.6, 67285.2, 67364.4, 67189.2,
- 67380, 67452, 67279.2, 67480.8, 67423.2, 67392, 67257.6,
- 67210.8, 67479.6, 67340.4, 67370.4, 67338, 67369.2, 67315.2,
- 67380};
-
-const float SIMULATED_LAT[GPS_DATA_SIZE] = {
- 3.76934E-07, 2.12122E-07, -1.71812E-07, 1.8447E-07, 2.22564E-07,
- 1.61956E-07, -3.27081E-08, -3.67698E-07, -8.8245E-08, 2.36561E-07,
- 1.66147E-07, 6.51119E-10, 5.97583E-08, 2.08472E-07, 1.10656E-07,
- -2.03282E-07, -5.01795E-08, -2.49524E-08, -1.34027E-07, -6.24701E-08,
- -1.11716E-07, -3.42272E-07, -5.52034E-08, 2.54705E-07, 1.73384E-07,
- -2.34695E-07, 1.68062E-07, 6.71245E-08, -1.12273E-07, 8.19417E-08,
- 5.39269E-08, -2.01298E-07, -1.3188E-07, -7.59062E-08, 2.87466E-07,
- -4.21843E-08, 4.84208E-07, 2.28063E-07, -1.08865E-08, -6.15637E-08,
- 1.01032E-07, -2.74606E-07, -5.82089E-08, -1.38132E-07, 4.65425E-09,
- -1.52543E-07, -1.35982E-07, 1.58534E-07, -2.27316E-07, -1.63257E-08,
- -6.15608E-08, -2.1505E-07, 1.38163E-07, -6.1444E-08, -3.51964E-07,
- 2.18889E-07, -2.27062E-07, 1.42957E-08, 3.7949E-07, 1.315E-07,
- 4.11432E-08, 4.38274E-08, 5.32794E-09, 2.80431E-07, -1.14516E-07,
- 9.52305E-08, 8.11298E-08, -2.89916E-08, 2.95824E-07, 3.01238E-07,
- 2.97799E-08, -2.01909E-07, -5.44123E-08, 3.23747E-07, 1.93315E-07,
- 3.62168E-08, -6.77334E-08, 1.24657E-07, 1.65701E-07, 5.39991E-08,
- -1.63911E-07, -2.0362E-08, 1.97007E-07, -2.58482E-07, -4.10798E-07,
- 3.45168E-07, 4.01655E-07, -3.64355E-07, -2.83517E-07, -5.81187E-08,
- 2.98609E-08, -1.22408E-07, -4.65224E-07, -5.09004E-08, -2.19067E-07,
- 9.80145E-09, -8.92895E-09, -2.75929E-07, -1.27299E-07, -4.71347E-07,
- -1.04301E-07, 2.57856E-07, -9.40528E-08, 7.85311E-08, 1.11771E-07,
- -2.63113E-07, -2.14946E-07, 2.11097E-08, -3.24808E-08, -2.23056E-07,
- -4.70109E-07, 4.26524E-08, 4.61181E-08, -2.86103E-07, -1.93316E-07,
- 1.94906E-07, 1.43105E-07, 1.5916E-07, -1.11042E-08, -1.16749E-07,
- -1.72716E-07, -2.49052E-08, 9.74565E-08, 1.35746E-07, 1.66931E-07,
- 1.29304E-07, 7.76291E-08, -1.54247E-07, -6.56644E-08, -2.93574E-07,
- -7.41989E-08, 6.58051E-08, 2.28718E-07, -8.82466E-08, -7.59378E-08,
- -2.17243E-09, -6.30933E-08, 4.87519E-08, 3.87932E-07, -3.08058E-07,
- -3.7991E-07, 6.09921E-09, -7.63216E-07, 4.1687E-07, 2.1309E-07,
- 6.84652E-09, -1.05982E-07, 8.98257E-08, 2.48217E-07, -1.35843E-07,
- 2.18528E-07, 1.04768E-07, 6.395E-08, 8.59627E-08, -1.37216E-07,
- -2.71795E-07, -3.46347E-07, -1.79066E-07, -1.59695E-07, -1.91646E-07,
- 2.67202E-07, 1.29719E-07, -2.33781E-08, -2.08154E-07, -1.02285E-07,
- -8.53781E-08, 7.95985E-08, -2.01229E-07, -6.30371E-08, -1.98727E-07,
- 2.43502E-08, -3.17344E-07, 1.53155E-07, 4.89643E-07, -1.96821E-07,
- 1.08141E-07, 1.30763E-07, 1.74285E-07, 1.59301E-07, -8.38133E-08,
- -3.76713E-08, 3.7599E-07, 3.54125E-07, 2.25801E-07, 3.51639E-07,
- 8.97044E-09, -1.19867E-08, -3.04683E-07, 3.10394E-07, -1.62884E-07,
- -5.85739E-08, -1.41581E-07, 2.39545E-07, -1.97129E-08, -2.81045E-07,
- 5.18673E-08, -4.36651E-07, 1.43414E-07, 3.50339E-07, 1.79237E-07,
- 8.86588E-08, 2.03958E-07, 4.77796E-07, -8.48529E-08, -3.82859E-08,
- -1.05497E-07, 9.38306E-08, 2.75094E-07, 2.05437E-07, 1.08035E-07,
- 2.70916E-07, -1.51795E-07, -2.65978E-08, 3.65574E-08, -2.22295E-07,
- 3.26666E-07, -4.78899E-08, 3.60915E-07, -3.88395E-07, 2.09375E-07,
- -2.29577E-07, 5.5004E-08, 3.31515E-07, 2.81451E-08, -2.44606E-07,
- 2.42212E-07, -7.16788E-08, -3.87553E-08, 2.335E-08, -1.40683E-07,
- 2.58588E-08, -2.01772E-08, 3.76379E-07, -1.15572E-07, -2.42319E-07,
- 3.74149E-08, 2.43294E-08, 1.10673E-07, 8.72279E-08, 1.27571E-07,
- -2.25981E-07, 1.27195E-07, 2.23826E-08, -3.20174E-07, 3.21856E-08,
- -2.68136E-07, -3.71116E-07, -7.344E-08, -1.07119E-07, 5.31866E-08,
- 9.04118E-08, 2.48115E-07, -2.42338E-08, -1.73219E-07, -2.47003E-08,
- 1.85956E-07, -2.24154E-07, -1.70864E-07, 1.67873E-07, 3.75802E-08,
- 7.54004E-08, 5.66849E-09, -9.58147E-08, -3.9131E-07, -2.4055E-07,
- 2.64792E-07, 9.05351E-08, 3.08814E-07, 9.02224E-08, -2.3836E-07,
- -4.01966E-08, -4.91776E-07, -3.09592E-09, 4.34199E-07, 4.56393E-07,
- -2.85331E-07, -4.28243E-08, -9.0535E-08, -1.66351E-07, -9.6062E-08,
- 2.36603E-07, -8.17096E-09, 1.52501E-07, 2.6562E-07, 3.18883E-08,
- 3.85047E-08, -9.9221E-08, 3.40032E-08, -1.78432E-08, -1.45885E-07,
- 1.13226E-07, 1.83697E-07, 4.30458E-07, 2.4484E-08, -1.78475E-08,
- -1.54759E-07, 3.05778E-07, -2.05695E-07, 6.39378E-08, -1.21166E-07,
- 1.17516E-07, 4.93873E-08, -2.72045E-08, 1.75233E-08, 3.24445E-07,
- 5.29042E-08, 1.01796E-07, 1.12074E-07, 7.02373E-08, -2.47207E-07,
- 7.92019E-07, 2.83616E-07, 5.91542E-08, 2.64248E-07, 1.742E-07,
- -1.64314E-07, 5.17861E-09, -2.23724E-07, -3.18962E-07, 1.67487E-07,
- 8.90668E-08, -2.84997E-07, -4.77309E-07, -3.96104E-08, -1.20889E-07,
- 4.05684E-08, 1.56952E-07, 5.28963E-07, 1.54991E-08, 1.0416E-07,
- -6.41972E-08, 1.48924E-08, 2.89395E-07, 1.00629E-07, -2.1309E-07,
- 6.71141E-07, 2.88868E-07, 1.63219E-07, 1.15999E-07, 9.5636E-08,
- -1.23719E-07, 1.49386E-07, -2.93838E-07, 4.28709E-07, -1.85328E-07,
- 1.28787E-07, 1.11139E-07, -1.1925E-07, -7.4553E-08, -2.69638E-08,
- 1.26527E-07, 6.57827E-07, -1.74398E-07, 3.40294E-07, 8.47443E-09,
- 9.78399E-08, -8.1528E-08, 3.04273E-07, -4.15214E-08, 5.86915E-08,
- 5.68868E-07, -1.62137E-07, -1.71217E-08, 5.6724E-08, -1.06476E-07,
- 1.85715E-07, -3.8599E-09, -6.64407E-09, 1.17404E-07, -2.56204E-07,
- -1.75241E-07, 1.71596E-07, -1.4762E-07, 4.16646E-07, 9.69343E-08,
- 1.82059E-07, -8.3673E-08, 1.26423E-07, -1.02764E-07, 1.39617E-08,
- 2.47254E-07, 6.72091E-08, -4.55932E-08, 4.89326E-08, 5.28676E-07,
- -1.34328E-07, 2.51601E-07, 4.22153E-07, -2.38294E-07, -3.2331E-08,
- -9.2493E-08, -1.73735E-07, 4.90407E-08, 6.12707E-08, 3.47552E-07,
- -6.39062E-08, 1.61706E-07, 1.88663E-07, 1.26598E-07, -1.23814E-07,
- 1.90992E-07, 8.8243E-09, 1.14491E-07, 2.70083E-07, 3.94591E-07,
- 1.82845E-07, 4.07766E-07, 3.16535E-07, -1.90365E-07, -3.51666E-08,
- 1.05588E-07, 3.92326E-07, 1.00873E-07, 1.79402E-07, 1.33758E-07,
- -4.23842E-08, -2.49972E-07, 1.81966E-07, 5.06369E-07, 8.14509E-09,
- 1.55945E-07, -3.22357E-07, 5.0511E-07, 1.89089E-07, 5.0358E-07,
- -5.85379E-08, 3.76608E-07, 1.32459E-07, 3.97731E-07, 1.26059E-07,
- 1.2545E-07, -4.79149E-08, -1.88091E-07, -1.0095E-07, -2.09027E-07,
- 4.55574E-07, 2.3318E-07, -2.25007E-07, 1.41289E-07, 3.60225E-07,
- -3.51109E-08, 2.77369E-08, 3.12882E-07, 1.37439E-07, -3.22587E-08,
- 5.02227E-07, 2.0798E-08, 2.27387E-08, -5.25458E-09, 1.92431E-07,
- 1.16708E-07, -3.64609E-07, 2.50435E-07, 2.03234E-07, -5.69815E-08,
- 1.35059E-07, -3.19073E-08, 4.79436E-08, 9.50161E-08, 4.37039E-07,
- 2.90042E-08, 3.94144E-07, 7.00003E-07, -6.74312E-08, 4.29219E-07,
- 7.49522E-08, 1.56493E-07, 3.45089E-07, -2.51653E-09, 3.71912E-08,
- -4.75243E-07, 3.67593E-07, 2.60062E-07, 3.04229E-07, -5.58112E-08,
- 2.33565E-07, -1.0599E-07, 1.09906E-07, 3.57026E-07, -3.251E-07,
- -1.4299E-07, 1.77976E-07, 5.80065E-07, 6.21202E-09, -2.11489E-07,
- 3.26742E-07, 2.96697E-07, 3.01139E-07, -3.84749E-08, 1.55941E-07,
- 5.27668E-08, 2.19175E-08, 2.47696E-07, 3.44804E-07, 2.2413E-07,
- 4.32379E-07, 8.00394E-08, 6.79679E-08, 1.04711E-07, -2.93326E-07,
- 5.15893E-07, 6.86966E-08, 1.41436E-07, -5.1175E-09, 2.79959E-08,
- 4.25647E-07, 1.02152E-07, 6.18334E-07, 2.48212E-07, 4.08957E-07,
- 4.22657E-07, 9.87536E-08, -6.15099E-08, -1.71758E-08, 4.5777E-08,
- 1.13523E-07, 5.09769E-07, 3.22232E-07, 8.0301E-08, 3.28425E-07,
- 1.829E-07, 3.79398E-07, 1.24663E-07, 9.5638E-08, 3.42618E-07,
- 5.51992E-08, 1.139E-07, -8.79583E-08, 2.34549E-07, 3.2584E-07,
- 1.32815E-07, 2.23702E-07, 6.4596E-07, 2.01261E-07, 1.69186E-07,
- 1.10583E-07, 8.54538E-08, 4.05363E-09, 2.30544E-07, -2.81641E-07,
- 4.32508E-07, 3.03467E-08, 3.39017E-07, 1.43908E-07, 2.9265E-07,
- 3.8134E-07, -1.24763E-07, -3.5858E-07, 1.6614E-08, 2.07675E-07,
- 4.10685E-08, 1.56855E-07, 3.14779E-07, 5.14184E-07, 2.25746E-07,
- 2.98339E-07, -2.96785E-08, 6.90695E-09, -1.83533E-07, 7.82588E-08,
- 3.1694E-07, 4.22748E-08, 1.69505E-07, 3.46751E-07, 5.22543E-08,
- 2.44437E-07, -2.14923E-07, 4.15526E-07, 2.76735E-08, 2.65348E-07,
- 1.31599E-07, 1.14923E-07, 1.84765E-07, 2.10938E-07, 4.99983E-07,
- 1.66245E-07, 1.61719E-07, 4.50525E-08, 1.5116E-07, 1.70525E-07,
- 5.15745E-07, 6.75539E-07, 6.04561E-07, 1.28565E-07, -1.68076E-07,
- 3.1469E-07, 1.67784E-07, 2.53309E-07, 6.15648E-07, -1.37485E-07,
- 4.02993E-07, 5.81048E-07, 1.07197E-07, -3.84591E-08, -4.70557E-08,
- 4.03077E-07, 2.97067E-07, 3.93186E-07, 2.74167E-07, -3.14718E-07,
- -3.31321E-07, 4.21682E-07, 3.98249E-07, 3.63485E-07, 4.21728E-07,
- -1.62575E-08, 5.41185E-07, 4.03863E-07, 7.39092E-07, 2.59721E-07,
- 7.31732E-07, 1.80858E-07, 3.47947E-07, 1.86029E-07, 3.27507E-07,
- 1.73963E-07, 4.24296E-07, 2.94336E-08, 7.87342E-08, 9.61727E-08,
- 1.37111E-07, -1.07064E-07, -4.31554E-08, -1.63853E-07, 2.13895E-07,
- 4.26615E-07, 6.7162E-07, 6.50324E-07, 5.14163E-07, 2.69901E-08,
- 7.34751E-07, 2.19974E-07, 3.92115E-07, 3.21091E-07, 3.27927E-07,
- -1.15923E-07, 5.67661E-07, 3.36355E-07, -2.68389E-08, 8.38852E-08,
- 2.7667E-07, 6.22976E-08, 1.50801E-07, 5.19361E-07, 3.25352E-07,
- 7.36864E-08, 4.48116E-07, 3.69353E-07, 1.39618E-07, 3.25917E-07,
- 3.23688E-07, 2.51912E-07, 6.97721E-07, 4.91709E-07, 7.25924E-08,
- -4.96837E-08, 3.58817E-07, 4.28857E-07, 3.78063E-07, 1.53949E-07,
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- 1.08051E-06, 3.88371E-07, 1.22734E-06, 7.92292E-07, 1.15768E-06,
- 1.03087E-06, 1.20672E-06, 8.2451E-07, 6.88979E-07, 1.18245E-06,
- 4.78418E-07, 9.02653E-07, 1.03626E-06, 9.68673E-07, 1.10886E-06,
- 1.25685E-06, 1.0482E-06, 9.69588E-07, 1.0638E-06, 1.95597E-07,
- 1.05237E-06, 6.5608E-07, 9.70894E-07, 7.71207E-07, 7.54129E-07,
- 1.32389E-06, 7.53319E-07, 8.64409E-07, 1.18315E-06, 1.19807E-06,
- 8.81027E-07, 1.01591E-06, 9.45173E-07, 7.17715E-07, 9.39903E-07,
- 9.53732E-07, 1.13461E-06, 8.63744E-07, 1.06467E-06, 7.68493E-07,
- 1.32415E-06, 1.11344E-06, 8.6706E-07, 1.00143E-06, 1.26624E-06,
- 9.36024E-07, 1.12295E-06, 6.42617E-07, 9.78988E-07, 1.10093E-06,
- 8.53099E-07, 6.57678E-07, 8.94819E-07, 6.08003E-07, 8.92252E-07};
-
-const float SIMULATED_LON[GPS_DATA_SIZE] = {
- -1.74842E-07, -1.43698E-09, -5.54666E-07, -4.02391E-07, -2.23117E-07,
- 1.88671E-07, -3.5403E-08, -1.23698E-07, 2.33816E-07, -5.19344E-09,
- 2.14989E-08, 3.13253E-08, -2.13007E-07, -2.74618E-07, -4.58129E-07,
- -1.61634E-07, -3.10375E-08, 5.97976E-09, 1.56018E-07, 2.19836E-08,
- -1.92872E-07, 1.46669E-08, -8.02885E-08, 2.40283E-07, -1.97468E-07,
- -2.68672E-08, 2.47379E-08, 1.85072E-08, 5.08885E-08, 2.07897E-08,
- 7.31081E-08, -8.44016E-08, 2.01954E-07, -2.39677E-07, 3.69962E-07,
- 1.87407E-09, 3.13371E-07, -1.88277E-08, 1.87107E-07, -5.41445E-08,
- 6.0013E-07, -5.26029E-08, 2.13072E-07, 1.01267E-07, -9.02709E-08,
- -6.70766E-08, 4.90507E-07, 5.97063E-07, 2.50172E-07, 4.12252E-07,
- 3.72828E-07, -7.99828E-08, 1.17874E-07, -2.82005E-07, -1.14941E-07,
- 2.92413E-07, 2.57534E-07, 2.33206E-07, 5.2684E-08, 8.1069E-08,
- 3.28281E-07, 6.21948E-08, 3.3226E-07, 4.5595E-07, 4.14124E-08,
- 8.70226E-08, 2.86791E-07, 3.99446E-07, 1.59651E-07, 1.47298E-07,
- 3.34205E-07, 3.30733E-07, 6.29568E-07, 3.09161E-07, 4.44505E-07,
- 3.7364E-08, 3.08953E-07, 7.83087E-07, 3.31264E-07, 4.13066E-07,
- 3.7659E-07, 5.83559E-07, 8.84798E-07, 6.47322E-07, 2.77282E-07,
- 5.46164E-07, 6.27263E-07, 7.88335E-07, 4.78571E-07, 5.64501E-07,
- 8.07642E-07, 1.08091E-06, 5.57284E-07, 7.53156E-07, 6.9771E-07,
- 1.19875E-06, 3.90133E-07, 7.25626E-07, 8.89069E-07, 8.15802E-07,
- 5.37213E-07, 1.14432E-06, 9.36041E-07, 8.81542E-07, 9.5323E-07,
- 8.30789E-07, 9.85588E-07, 9.94458E-07, 1.1319E-06, 1.02166E-06,
- 1.212E-06, 1.15386E-06, 1.46501E-06, 1.34377E-06, 1.47415E-06,
- 1.43883E-06, 1.27025E-06, 1.37272E-06, 1.27638E-06, 1.51444E-06,
- 1.23756E-06, 1.11896E-06, 1.31868E-06, 1.14909E-06, 1.72765E-06,
- 1.06403E-06, 1.72671E-06, 1.58306E-06, 1.98953E-06, 1.51145E-06,
- 1.62799E-06, 1.85744E-06, 1.71914E-06, 2.01847E-06, 1.55683E-06,
- 2.13283E-06, 1.78452E-06, 1.81388E-06, 2.01537E-06, 2.77443E-06,
- 2.69883E-06, 2.35388E-06, 2.37209E-06, 2.38904E-06, 2.57429E-06,
- 2.11987E-06, 2.39973E-06, 2.79557E-06, 2.97796E-06, 2.82446E-06,
- 2.67604E-06, 2.73506E-06, 2.6423E-06, 2.79535E-06, 2.671E-06,
- 2.72992E-06, 2.68549E-06, 3.04277E-06, 2.84237E-06, 3.21573E-06,
- 3.52807E-06, 3.52327E-06, 3.21216E-06, 3.48578E-06, 3.38792E-06,
- 3.03178E-06, 3.34051E-06, 3.3565E-06, 3.22759E-06, 3.63669E-06,
- 3.83651E-06, 3.50946E-06, 3.50718E-06, 3.76854E-06, 3.95235E-06,
- 3.80879E-06, 4.18231E-06, 3.76084E-06, 3.97083E-06, 4.24936E-06,
- 4.50894E-06, 4.5313E-06, 4.22036E-06, 4.38518E-06, 4.73348E-06,
- 4.58713E-06, 4.76896E-06, 4.85375E-06, 4.50045E-06, 4.93459E-06,
- 4.60257E-06, 4.48873E-06, 5.06708E-06, 5.14712E-06, 4.96803E-06,
- 5.17089E-06, 5.13006E-06, 5.19507E-06, 5.31662E-06, 5.10885E-06,
- 5.32887E-06, 5.64757E-06, 5.85663E-06, 5.19602E-06, 5.70449E-06,
- 5.89747E-06, 5.9334E-06, 6.22835E-06, 5.759E-06, 6.08503E-06,
- 6.41906E-06, 6.58022E-06, 6.49082E-06, 6.04903E-06, 6.79989E-06,
- 6.72814E-06, 6.56948E-06, 6.37929E-06, 6.0753E-06, 7.05238E-06,
- 6.74556E-06, 7.11518E-06, 6.74694E-06, 7.17498E-06, 7.00337E-06,
- 7.4202E-06, 7.22857E-06, 7.17565E-06, 7.87569E-06, 7.31919E-06,
- 7.83351E-06, 7.67951E-06, 7.76318E-06, 7.77836E-06, 8.42574E-06,
- 7.79381E-06, 8.03714E-06, 8.27594E-06, 7.9897E-06, 8.53773E-06,
- 8.31707E-06, 8.55452E-06, 8.89383E-06, 8.7788E-06, 8.75077E-06,
- 8.65245E-06, 9.15622E-06, 9.59952E-06, 9.20581E-06, 9.28821E-06,
- 8.67433E-06, 9.77508E-06, 9.81606E-06, 9.71414E-06, 9.89993E-06,
- 1.00336E-05, 9.92448E-06, 9.93046E-06, 1.01085E-05, 9.94495E-06,
- 9.81141E-06, 1.02572E-05, 1.03388E-05, 1.04371E-05, 1.06578E-05,
- 1.07632E-05, 1.0801E-05, 1.08781E-05, 1.06862E-05, 1.08676E-05,
- 1.12333E-05, 1.09313E-05, 1.14511E-05, 1.16046E-05, 1.10289E-05,
- 1.11995E-05, 1.20586E-05, 1.17584E-05, 1.18106E-05, 1.20865E-05,
- 1.19624E-05, 1.25514E-05, 1.26332E-05, 1.23805E-05, 1.27278E-05,
- 1.29555E-05, 1.30787E-05, 1.27129E-05, 1.30108E-05, 1.27719E-05,
- 1.29303E-05, 1.31739E-05, 1.36754E-05, 1.35607E-05, 1.35108E-05,
- 1.37622E-05, 1.3541E-05, 1.40747E-05, 1.37348E-05, 1.39242E-05,
- 1.40053E-05, 1.40008E-05, 1.43779E-05, 1.45548E-05, 1.47008E-05,
- 1.48928E-05, 1.51637E-05, 1.47202E-05, 1.4892E-05, 1.51119E-05,
- 1.5356E-05, 1.52083E-05, 1.55988E-05, 1.58973E-05, 1.58581E-05,
- 1.54842E-05, 1.56569E-05, 1.63407E-05, 1.61269E-05, 1.6541E-05,
- 1.64121E-05, 1.62688E-05, 1.65154E-05, 1.66618E-05, 1.6762E-05,
- 1.77232E-05, 1.74112E-05, 1.74674E-05, 1.76711E-05, 1.697E-05,
- 1.76833E-05, 1.78388E-05, 1.788E-05, 1.78846E-05, 1.82848E-05,
- 1.82281E-05, 1.86676E-05, 1.78981E-05, 1.86583E-05, 1.84184E-05,
- 1.85799E-05, 1.88185E-05, 1.88588E-05, 1.90517E-05, 1.88702E-05,
- 1.95612E-05, 1.95541E-05, 1.96544E-05, 1.99635E-05, 1.98705E-05,
- 1.98518E-05, 1.9822E-05, 1.99906E-05, 2.05492E-05, 2.04496E-05,
- 2.04899E-05, 2.04777E-05, 2.05575E-05, 2.07719E-05, 2.09589E-05,
- 2.14999E-05, 2.0848E-05, 2.11653E-05, 2.16718E-05, 2.15925E-05,
- 2.18043E-05, 2.18126E-05, 2.17071E-05, 2.21502E-05, 2.2353E-05,
- 2.1964E-05, 2.24749E-05, 2.24457E-05, 2.24815E-05, 2.26374E-05,
- 2.27907E-05, 2.31454E-05, 2.29867E-05, 2.32327E-05, 2.37127E-05,
- 2.34223E-05, 2.35978E-05, 2.38124E-05, 2.34624E-05, 2.35823E-05,
- 2.40711E-05, 2.41665E-05, 2.42042E-05, 2.43833E-05, 2.46394E-05,
- 2.46247E-05, 2.50904E-05, 2.49873E-05, 2.47532E-05, 2.54394E-05,
- 2.49237E-05, 2.56787E-05, 2.57265E-05, 2.56735E-05, 2.55599E-05,
- 2.60245E-05, 2.59436E-05, 2.61673E-05, 2.63082E-05, 2.62199E-05,
- 2.66409E-05, 2.65758E-05, 2.66739E-05, 2.69805E-05, 2.64178E-05,
- 2.72706E-05, 2.70751E-05, 2.75905E-05, 2.71027E-05, 2.78494E-05,
- 2.78847E-05, 2.7709E-05, 2.8331E-05, 2.76243E-05, 2.83226E-05,
- 2.81676E-05, 2.82096E-05, 2.79862E-05, 2.84133E-05, 2.86782E-05,
- 2.93485E-05, 2.93124E-05, 2.93678E-05, 2.92139E-05, 2.97182E-05,
- 2.96879E-05, 2.96585E-05, 2.95046E-05, 2.98102E-05, 3.01522E-05,
- 3.05819E-05, 3.06885E-05, 3.07289E-05, 3.05099E-05, 3.02663E-05,
- 3.08782E-05, 3.07609E-05, 3.07522E-05, 3.09181E-05, 3.14313E-05,
- 3.1436E-05, 3.1234E-05, 3.17747E-05, 3.18473E-05, 3.16627E-05,
- 3.17932E-05, 3.22052E-05, 3.23369E-05, 3.23138E-05, 3.23427E-05,
- 3.24528E-05, 3.3053E-05, 3.27163E-05, 3.27328E-05, 3.29383E-05,
- 3.31338E-05, 3.29583E-05, 3.33267E-05, 3.29829E-05, 3.37763E-05,
- 3.34858E-05, 3.36354E-05, 3.42679E-05, 3.39776E-05, 3.41204E-05,
- 3.48733E-05, 3.40027E-05, 3.45474E-05, 3.45785E-05, 3.50267E-05,
- 3.47721E-05, 3.52764E-05, 3.51182E-05, 3.50768E-05, 3.53526E-05,
- 3.53002E-05, 3.5907E-05, 3.57188E-05, 3.57604E-05, 3.58546E-05,
- 3.58492E-05, 3.62641E-05, 3.59599E-05, 3.64845E-05, 3.65055E-05,
- 3.65364E-05, 3.64551E-05, 3.72926E-05, 3.69839E-05, 3.72464E-05,
- 3.71167E-05, 3.78754E-05, 3.69113E-05, 3.77719E-05, 3.72778E-05,
- 3.77936E-05, 3.81969E-05, 3.76221E-05, 3.8367E-05, 3.8226E-05,
- 3.88528E-05, 3.78126E-05, 3.85755E-05, 3.87919E-05, 3.87765E-05,
- 3.92154E-05, 3.88931E-05, 3.95637E-05, 3.9513E-05, 3.91258E-05,
- 3.95504E-05, 3.96765E-05, 3.93899E-05, 3.98829E-05, 3.9923E-05,
- 3.99587E-05, 4.05694E-05, 4.02209E-05, 4.02156E-05, 4.03727E-05,
- 4.0604E-05, 4.07866E-05, 4.0823E-05, 4.13979E-05, 4.11889E-05,
- 4.13418E-05, 4.10883E-05, 4.14174E-05, 4.16921E-05, 4.17177E-05,
- 4.19397E-05, 4.14112E-05, 4.19968E-05, 4.23231E-05, 4.16951E-05,
- 4.28704E-05, 4.24014E-05, 4.23066E-05, 4.3051E-05, 4.26863E-05,
- 4.31986E-05, 4.2999E-05, 4.34881E-05, 4.33575E-05, 4.30503E-05,
- 4.35587E-05, 4.30826E-05, 4.34715E-05, 4.37939E-05, 4.43174E-05,
- 4.39998E-05, 4.45862E-05, 4.431E-05, 4.44014E-05, 4.44652E-05,
- 4.46025E-05, 4.46263E-05, 4.46279E-05, 4.49759E-05, 4.47751E-05,
- 4.53018E-05, 4.51535E-05, 4.54441E-05, 4.57844E-05, 4.58643E-05,
- 4.57071E-05, 4.57996E-05, 4.59663E-05, 4.64306E-05, 4.63392E-05,
- 4.60829E-05, 4.64844E-05, 4.67352E-05, 4.66102E-05, 4.6818E-05,
- 4.69511E-05, 4.66908E-05, 4.71509E-05, 4.72848E-05, 4.75273E-05,
- 4.72681E-05, 4.74569E-05, 4.75588E-05, 4.75426E-05, 4.80719E-05,
- 4.79121E-05, 4.82426E-05, 4.85834E-05, 4.85861E-05, 4.85626E-05,
- 4.83646E-05, 4.90569E-05, 4.89256E-05, 4.88528E-05, 4.87774E-05,
- 4.87468E-05, 4.93922E-05, 4.92511E-05, 4.96346E-05, 4.97331E-05,
- 4.96802E-05, 5.02926E-05, 4.99139E-05, 4.99846E-05, 5.01785E-05,
- 5.03402E-05, 5.00806E-05, 5.02935E-05, 5.03918E-05, 5.09243E-05,
- 5.08605E-05, 5.10304E-05, 5.07244E-05, 5.15329E-05, 5.15249E-05,
- 5.14659E-05, 5.13756E-05, 5.13327E-05, 5.13873E-05, 5.19527E-05,
- 5.16721E-05, 5.20402E-05, 5.21446E-05, 5.22459E-05, 5.26861E-05,
- 5.24207E-05, 5.26073E-05, 5.22335E-05, 5.28373E-05, 5.30041E-05,
- 5.30021E-05, 5.2717E-05, 5.32482E-05, 5.30845E-05, 5.31812E-05,
- 5.37672E-05, 5.35874E-05, 5.35896E-05, 5.39094E-05, 5.36587E-05,
- 5.38527E-05, 5.44327E-05, 5.45892E-05, 5.41071E-05, 5.43866E-05,
- 5.49208E-05, 5.48037E-05, 5.49447E-05, 5.53776E-05, 5.52516E-05,
- 5.49569E-05, 5.53238E-05, 5.55869E-05, 5.53022E-05, 5.55632E-05,
- 5.53718E-05, 5.60733E-05, 5.56712E-05, 5.60158E-05, 5.6214E-05,
- 5.58406E-05, 5.6417E-05, 5.67829E-05, 5.70215E-05, 5.66799E-05,
- 5.66628E-05, 5.70953E-05, 5.67459E-05, 5.75115E-05, 5.70824E-05,
- 5.70472E-05, 5.71147E-05, 5.76551E-05, 5.77437E-05, 5.80687E-05,
- 5.76778E-05, 5.79731E-05, 5.7565E-05, 5.80392E-05, 5.8317E-05,
- 5.84187E-05, 5.87538E-05, 5.88184E-05, 5.90267E-05, 5.91042E-05,
- 5.88851E-05, 5.9574E-05, 5.91351E-05, 5.93028E-05, 5.92032E-05,
- 5.90531E-05, 5.96031E-05, 5.96927E-05, 5.99122E-05, 6.01678E-05,
- 6.05515E-05, 6.01938E-05, 6.02091E-05, 6.02936E-05, 6.03631E-05,
- 6.05829E-05, 6.06069E-05, 6.04865E-05, 6.12117E-05, 6.12292E-05,
- 6.05379E-05, 6.10265E-05, 6.18976E-05, 6.18814E-05, 6.19784E-05,
- 6.17416E-05, 6.14828E-05, 6.18693E-05, 6.22055E-05, 6.22036E-05,
- 6.19394E-05, 6.22341E-05, 6.23318E-05, 6.26086E-05, 6.25904E-05,
- 6.23753E-05, 6.28976E-05, 6.32297E-05, 6.28663E-05, 6.33194E-05,
- 6.30031E-05, 6.34179E-05, 6.35567E-05, 6.38062E-05, 6.39398E-05,
- 6.35886E-05, 6.3862E-05, 6.37822E-05, 6.41548E-05, 6.40523E-05,
- 6.43069E-05, 6.41644E-05, 6.44279E-05, 6.46926E-05, 6.45171E-05,
- 6.44539E-05, 6.49285E-05, 6.48881E-05, 6.52714E-05, 6.49178E-05,
- 6.54191E-05, 6.56162E-05, 6.56923E-05, 6.55846E-05, 6.60856E-05,
- 6.60651E-05, 6.57057E-05, 6.60446E-05, 6.61061E-05, 6.62905E-05,
- 6.63266E-05, 6.65456E-05, 6.6485E-05, 6.67239E-05, 6.65219E-05,
- 6.69511E-05, 6.67189E-05, 6.6919E-05, 6.69672E-05, 6.71336E-05,
- 6.7401E-05, 6.74825E-05, 6.745E-05, 6.76238E-05, 6.79005E-05,
- 6.77092E-05, 6.78976E-05, 6.82092E-05, 6.86002E-05, 6.81367E-05,
- 6.88185E-05, 6.86054E-05, 6.87078E-05, 6.91751E-05, 6.88129E-05,
- 6.88867E-05, 6.935E-05, 6.91528E-05, 6.94951E-05, 6.93939E-05,
- 6.90065E-05, 6.94156E-05, 6.96123E-05, 6.95861E-05, 6.9767E-05,
- 7.00486E-05, 7.01037E-05, 7.01033E-05, 7.04899E-05, 7.01639E-05,
- 7.04945E-05, 7.01751E-05, 7.04892E-05, 7.10621E-05, 7.10951E-05,
- 7.10594E-05, 7.08086E-05, 7.08717E-05, 7.14405E-05, 7.1252E-05,
- 7.14563E-05, 7.19803E-05, 7.19249E-05, 7.15269E-05, 7.19118E-05,
- 7.23974E-05, 7.19321E-05, 7.19468E-05, 7.21616E-05, 7.23578E-05,
- 7.25625E-05, 7.21701E-05, 7.26515E-05, 7.29559E-05, 7.27545E-05,
- 7.27504E-05, 7.31683E-05, 7.32067E-05, 7.35382E-05, 7.34771E-05,
- 7.36716E-05, 7.38431E-05, 7.34911E-05, 7.36841E-05, 7.39104E-05,
- 7.43433E-05, 7.40525E-05, 7.40761E-05, 7.4413E-05, 7.41736E-05,
- 7.52072E-05, 7.45261E-05, 7.47582E-05, 7.49798E-05, 7.45996E-05,
- 7.48501E-05, 7.50166E-05, 7.48161E-05, 7.52879E-05, 7.51987E-05,
- 7.53722E-05, 7.58225E-05, 7.57622E-05, 7.58545E-05, 7.61049E-05,
- 7.59664E-05, 7.63501E-05, 7.60327E-05, 7.601E-05, 7.63797E-05,
- 7.67704E-05, 7.676E-05, 7.68394E-05, 7.6889E-05, 7.73226E-05,
- 7.69956E-05, 7.69341E-05, 7.67913E-05, 7.73366E-05, 7.73796E-05,
- 7.70388E-05, 7.77687E-05, 7.75884E-05, 7.72375E-05, 7.7562E-05,
- 7.82232E-05, 7.80391E-05, 7.82003E-05, 7.85904E-05, 7.84134E-05,
- 7.84694E-05, 7.85027E-05, 7.8855E-05, 7.89383E-05, 7.89223E-05,
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- 0.000177727, 0.000178209, 0.000177863, 0.000177814, 0.000178154,
- 0.000178288, 0.00017793, 0.000178132, 0.000178495, 0.000178506,
- 0.000178632, 0.000178705, 0.000178973, 0.000178832, 0.000178805,
- 0.000178985, 0.000178903, 0.00017906, 0.000178938, 0.000178755,
- 0.000179452, 0.000179253, 0.000179406, 0.000179514, 0.000179495,
- 0.000180054, 0.000179965, 0.000179524, 0.000179695, 0.000180206,
- 0.000179653, 0.000180092, 0.000180881, 0.00018016, 0.000180215,
- 0.000180288, 0.000180583, 0.000180502, 0.000180632, 0.000180586,
- 0.00018067, 0.0001807, 0.000180775, 0.000180895, 0.000181111,
- 0.000180869, 0.000181282, 0.000181078, 0.000181677, 0.000181526,
- 0.000181468, 0.000181577, 0.00018155, 0.000181635, 0.000182169,
- 0.000181897, 0.000181933, 0.000181674, 0.000182407, 0.000182123,
- 0.000182468, 0.000182169, 0.000182317, 0.000182826, 0.000182515,
- 0.000182752, 0.000182759, 0.000182677, 0.000183296, 0.000183161,
- 0.000183269, 0.000183473, 0.000182815, 0.000183368, 0.000183369,
- 0.000183484, 0.000183276, 0.000183754, 0.000183544, 0.000183935,
- 0.000183457, 0.000184221, 0.000184415, 0.000183981, 0.000184269,
- 0.000184202, 0.000184358, 0.000184337, 0.000183918, 0.000184149,
- 0.000184864, 0.00018474, 0.000184832, 0.000184895, 0.000184443,
- 0.000184828, 0.000185533, 0.000185135, 0.000184673, 0.000185565,
- 0.000185127, 0.000185527, 0.000185342, 0.000185668, 0.000185662,
- 0.000185519, 0.000185784, 0.000186153, 0.000186136, 0.000186158,
- 0.00018615, 0.000185922, 0.000186678, 0.000186487, 0.000186309,
- 0.000186221, 0.000186836, 0.000186536, 0.000186309, 0.00018697,
- 0.000186936, 0.000186518, 0.000186816, 0.000186831, 0.000186751,
- 0.000187421, 0.00018746, 0.000187352, 0.000187204, 0.000187538,
- 0.000187621, 0.000187546, 0.000187597, 0.000187921, 0.000187665,
- 0.000187594, 0.000187755, 0.000188155, 0.00018809, 0.000188551,
- 0.000188565, 0.000188298, 0.000188406, 0.000188524, 0.000188482,
- 0.00018883, 0.00018909, 0.000189373, 0.000188547, 0.000188915,
- 0.000188648, 0.000189166, 0.000189068, 0.000189557, 0.000189299,
- 0.000189577, 0.00018948, 0.000189226, 0.000189471, 0.000189795,
- 0.00018972, 0.000190287, 0.000190055, 0.000190061, 0.000190428,
- 0.000190065, 0.000190402, 0.000190256, 0.000190006, 0.000190657,
- 0.00019025, 0.000190721, 0.000190551, 0.000190987, 0.000190311,
- 0.000191317, 0.000191238, 0.00019125, 0.00019124, 0.000191004,
- 0.000191556, 0.000191574, 0.000191771, 0.000190945, 0.000191786,
- 0.000191338, 0.000191684, 0.000191968, 0.000192126, 0.000192154,
- 0.000191919, 0.000191732, 0.000192018, 0.000192226, 0.000192127,
- 0.000192054, 0.000192944, 0.00019261, 0.000192514, 0.000192806,
- 0.000192377, 0.000192899, 0.000192826, 0.000193226, 0.000193154,
- 0.0001932, 0.000193128, 0.000193061, 0.000193325, 0.000193724,
- 0.000193282, 0.000193756, 0.000194111, 0.000193947, 0.00019365,
- 0.000194337, 0.000194056, 0.000193778, 0.000194125, 0.000194214,
- 0.000194474, 0.000194523, 0.000194703, 0.000194452, 0.000194598,
- 0.000194413, 0.000194865, 0.000194887, 0.000194951, 0.000195033,
- 0.000195074, 0.000195288, 0.000195096, 0.00019539, 0.000195038,
- 0.000195259, 0.000195512, 0.000195596, 0.000195821, 0.000195093,
- 0.000195309, 0.000196041, 0.000195918, 0.000195944, 0.000196524,
- 0.000196333, 0.000195685, 0.000196103, 0.000196779, 0.00019648,
- 0.000196249, 0.000196316, 0.000196935, 0.000196353, 0.000196703,
- 0.000196724, 0.000196934, 0.000197085, 0.000197261, 0.000197354,
- 0.000197351, 0.000197331, 0.000197116, 0.000197693, 0.000197573,
- 0.0001974, 0.000197961, 0.000197901, 0.000197998, 0.000197982,
- 0.000198268, 0.000198383, 0.000198324, 0.000198112, 0.000198286,
- 0.000198422, 0.000198098, 0.000198313, 0.000198275, 0.000198938,
- 0.000198979, 0.0001993, 0.000198666, 0.000198844, 0.000199255,
- 0.000199148, 0.000199398, 0.000198945, 0.00019903, 0.000199264,
- 0.000199493, 0.000199295, 0.000199444, 0.000199977, 0.000199567,
- 0.000199458, 0.000200074, 0.000200012, 0.000200007, 0.00019972,
- 0.000200342, 0.000200295, 0.000200192, 0.000200241, 0.000200405,
- 0.000200319, 0.000200646, 0.000201118, 0.000200526, 0.000200638,
- 0.000200805, 0.000201327, 0.000201288, 0.000200846, 0.000201322,
- 0.000201575, 0.000201533, 0.000201377, 0.00020153, 0.000201628,
- 0.000201931, 0.000201811, 0.000201777, 0.000201923, 0.000201624,
- 0.000202196, 0.000202466, 0.000201979, 0.000202177, 0.000202013,
- 0.000202486, 0.00020305, 0.000202604, 0.000202438, 0.000202754,
- 0.000202833, 0.00020302, 0.00020246, 0.000202853, 0.000203155,
- 0.000203379, 0.000202699, 0.000203371, 0.000203288, 0.000203628,
- 0.000203132, 0.000203507, 0.000203286, 0.000204256, 0.000203808,
- 0.000203819, 0.000204131, 0.000204011, 0.00020374, 0.000204365,
- 0.000204161, 0.00020424, 0.000204149, 0.000204552, 0.000204438,
- 0.000203991, 0.000204584, 0.000204351, 0.000205068, 0.00020508,
- 0.000204759, 0.000204981, 0.000205225, 0.000205203, 0.000205406,
- 0.000205405, 0.000204973, 0.000205566, 0.000205209, 0.00020557,
- 0.00020577, 0.000205441, 0.000206037, 0.000205844, 0.000205684,
- 0.000206081, 0.000205828, 0.000206342, 0.000206331, 0.000206208,
- 0.000206651, 0.000206378, 0.000206545, 0.000206793, 0.000206251,
- 0.000206543, 0.000206414, 0.000206666, 0.000207184, 0.000207137,
- 0.000207241, 0.000206859, 0.000207272, 0.00020718, 0.000207415,
- 0.000206881, 0.000207671, 0.000207321, 0.000207528, 0.00020762,
- 0.000207919, 0.000208007, 0.000208086, 0.000207944, 0.000208318,
- 0.000207979, 0.000207908, 0.000208329, 0.000208802, 0.000208524,
- 0.000208583, 0.000208374, 0.000208448, 0.000208445, 0.000209072,
- 0.000209027, 0.000208642, 0.00020831, 0.000208948, 0.000209155,
- 0.000209056, 0.000209099, 0.00020919, 0.000209363, 0.000209793,
- 0.000209266, 0.000209357, 0.000209243, 0.000209401, 0.000209981,
- 0.000210148, 0.000209922, 0.000209919, 0.000210436, 0.000210418,
- 0.000210133, 0.000210512, 0.000210331, 0.000210774, 0.000210842,
- 0.000210616, 0.000210566, 0.000211083, 0.00021111, 0.000210927,
- 0.000211038, 0.000210986, 0.000211097, 0.000211374, 0.000211366,
- 0.000211093, 0.00021141, 0.00021145, 0.000211462, 0.000211652,
- 0.000211708, 0.000212047, 0.000211726, 0.000211804, 0.000212197,
- 0.000212103, 0.000212139, 0.000212591, 0.000212525, 0.000212171,
- 0.000212575, 0.000212867, 0.000213036, 0.000213095, 0.000213141,
- 0.000212999, 0.000213001, 0.000212899, 0.000213322, 0.000212964,
- 0.000213118, 0.000213111, 0.000213218, 0.000213268, 0.000213382,
- 0.000213554, 0.000213368, 0.000213681, 0.000213389, 0.000213582,
- 0.000213766, 0.00021404, 0.000213829, 0.000214348, 0.000214414,
- 0.000214275, 0.000214353, 0.000214506, 0.000214483, 0.000214227,
- 0.000214599, 0.000215184, 0.00021464, 0.000215007, 0.000214721,
- 0.000214652, 0.000215345, 0.0002149, 0.000215168, 0.000215604,
- 0.00021572, 0.000214934, 0.000215976, 0.00021586, 0.000215687,
- 0.000216085, 0.000215481, 0.000215592, 0.000216069, 0.000216216,
- 0.000216199, 0.000216717, 0.000216684, 0.000216517, 0.000216377,
- 0.000216373, 0.000216484, 0.00021633, 0.000216643, 0.000216514};
-
-const float SIMULATED_VNORD[GPS_DATA_SIZE] = {
- 1.15585745, 2.647533222, 1.633673835, 2.440768363, -0.224579152,
- 0.555666515, 0.305991203, 1.609186897, -0.988004271, 2.173881475,
- 1.027173233, 2.038831934, 0.157196085, 1.491739423, 2.626959942,
- 0.707236476, 0.165023409, 2.012414442, -0.268334118, -0.290011332,
- 2.259172135, 1.618978071, 2.005067687, 2.334486131, 2.988992842,
- 3.113279939, 3.672095799, 2.108945202, 4.283241154, 1.300542348,
- 4.720951071, 2.081800207, 2.877127389, 6.674254624, 1.492449822,
- 2.430972769, 1.761014537, 3.470831897, 4.763776693, 3.33372637,
- 2.470452213, 1.928342135, 3.091402897, 4.007698156, 4.395192915,
- 2.933121526, 2.070452492, 4.875346461, 1.611071282, 3.382661195,
- 3.988769454, 2.117752108, 4.978095616, 5.178880433, 7.121581955,
- 6.32689645, 4.261496552, 6.191930351, 3.542679238, 7.692246641,
- 7.1409436, 7.038212109, 4.93506517, 8.554804769, 7.557956548,
- 7.277787649, 6.819191612, 5.589444209, 4.214224696, 7.608443299,
- 7.641846605, 7.875224607, 8.433248252, 7.04182257, 6.154524485,
- 11.95796085, 10.14533385, 8.026891459, 10.26669566, 8.858089595,
- 8.983353872, 10.89104647, 8.35536853, 8.38241596, 9.371915541,
- 10.43285196, 11.60773717, 10.71407429, 12.63654397, 11.08923186,
- 11.50781576, 12.47098857, 12.93866449, 11.80151878, 15.5563638,
- 12.65029149, 14.44810845, 11.6510697, 14.461477, 15.76450435,
- 14.19918536, 16.04263321, 16.47534173, 15.26166015, 17.49047395,
- 14.15033867, 16.56990801, 16.3792729, 16.97776586, 16.9990111,
- 19.58805361, 20.9056177, 18.3877234, 18.54591925, 20.29777508,
- 23.76524555, 23.61457645, 21.17792138, 22.67055555, 20.74194287,
- 23.11367136, 21.3255154, 20.10205358, 21.8817294, 22.70360344,
- 23.45641554, 26.04735146, 21.99535836, 24.61412757, 22.73566029,
- 24.93503656, 23.1813962, 24.28223407, 24.8466966, 26.6511174,
- 26.59720529, 26.40348136, 27.15562764, 27.26100736, 26.59110911,
- 27.30542375, 24.41607209, 28.60368352, 27.22431562, 28.02744339,
- 29.42342397, 26.25759766, 28.17442339, 27.81422419, 29.63388113,
- 29.69386067, 29.67150489, 30.02256501, 29.63519141, 30.24012858,
- 34.27908155, 29.91127814, 34.20447844, 30.90724067, 30.12376771,
- 32.20333768, 31.13130708, 33.97611373, 32.5779354, 36.52409547,
- 35.02567693, 33.43619495, 34.81006352, 34.11995299, 35.78626168,
- 32.28249578, 35.69005902, 33.5581562, 34.98717251, 34.58819228,
- 34.4349169, 39.28707226, 38.03271686, 35.1414805, 36.39625394,
- 35.70833086, 37.44807624, 37.03748635, 37.15166738, 35.83117728,
- 40.04227332, 38.94890846, 39.60926355, 37.73149902, 39.47911602,
- 36.4460395, 42.60299859, 40.39884414, 38.11947945, 40.53529207,
- 38.93676839, 42.29785284, 42.96324452, 41.10141164, 45.63066766,
- 43.21353524, 44.32496471, 43.7405277, 43.00101222, 45.07336498,
- 43.90530672, 43.53767108, 44.76185389, 43.19098, 45.67561082,
- 45.89343077, 45.87835599, 47.85125661, 47.42620914, 44.15008873,
- 45.92901614, 46.01439111, 50.06218182, 48.70180614, 47.64184366,
- 46.98759299, 48.95881914, 47.70906795, 47.977445, 49.41934701,
- 49.63940159, 51.54129376, 51.76250824, 50.52679439, 49.90780586,
- 52.77287047, 45.71987946, 50.35323213, 51.13573022, 52.85336431,
- 50.62144186, 51.10940628, 53.30882757, 54.59536793, 55.48964014,
- 52.97319184, 51.62643297, 52.68690051, 54.26775617, 53.20877221,
- 53.95906549, 55.34828392, 56.76341234, 54.69423734, 56.48401697,
- 57.29801772, 53.46352735, 56.5422492, 58.20345059, 57.12004164,
- 59.30098567, 58.44107525, 56.25200596, 59.00594408, 59.50046022,
- 57.29462657, 58.3524092, 58.52901546, 59.12330128, 57.68166733,
- 61.6427304, 61.16233907, 61.53802678, 59.22141548, 60.16682856,
- 62.53572909, 59.89328596, 61.34305639, 62.16506401, 63.42104904,
- 61.94392353, 62.27035396, 63.34709837, 63.7702423, 63.13497201,
- 63.23393317, 63.94294497, 63.96725013, 66.55061823, 66.61920594,
- 66.83930943, 65.76591082, 65.42274617, 65.36775457, 64.80686847,
- 66.63117461, 65.33436192, 64.42102413, 65.88624711, 66.43458292,
- 66.30085275, 67.53340601, 66.80546729, 69.71956784, 68.16892852,
- 67.99334308, 70.2310648, 67.01034184, 68.82338857, 69.99487743,
- 69.86740044, 70.89019929, 71.5994174, 71.31321112, 67.69659066,
- 70.18275553, 68.52444675, 69.83903237, 72.38846082, 73.01392244,
- 72.44185492, 68.34762835, 71.40449505, 72.65702559, 72.35964244,
- 71.83605999, 71.08736201, 73.21579639, 73.99435291, 72.36428626,
- 75.64255727, 73.11395841, 74.59722057, 73.2591383, 74.36179845,
- 73.54987464, 74.82481476, 73.62638979, 74.43589685, 75.29467993,
- 73.82601023, 76.36820795, 74.03369948, 73.32047987, 74.39709283,
- 74.50402097, 75.39340526, 73.54127518, 77.59747255, 74.38301479,
- 76.13683827, 75.44100843, 74.98024237, 75.0735294, 77.94859909,
- 73.19195139, 75.3954696, 74.97800095, 75.83556289, 76.05372928,
- 73.08056813, 75.53638265, 74.15750034, 73.26781844, 75.74929151,
- 74.76864666, 76.02782123, 76.18566877, 76.50625818, 74.75802764,
- 77.13307356, 77.71482307, 75.73933853, 75.95401388, 75.24060415,
- 75.81747124, 77.18974985, 76.70753047, 76.02080601, 77.42603557,
- 76.13531751, 76.83810738, 73.9633067, 76.99510161, 77.29847935,
- 77.78203857, 79.04655076, 77.56202805, 78.7377561, 77.35072352,
- 76.5717882, 76.15741685, 77.55836151, 77.3516651, 76.26932943,
- 77.43257092, 74.73226488, 77.24084866, 75.37298761, 79.75721558,
- 77.54871751, 79.12615084, 78.29046938, 78.49329988, 78.25273212,
- 76.65027842, 74.76613811, 77.07232587, 78.05849965, 80.12515372,
- 75.93682613, 74.74828104, 75.67215363, 76.7351655, 78.39950277,
- 78.34962537, 76.13441469, 77.28327022, 76.55483696, 75.38986469,
- 77.78060645, 78.07637543, 75.94155638, 76.74610275, 75.4909619,
- 77.32160076, 77.37450362, 77.25553425, 77.16446042, 77.60310542,
- 76.68814451, 76.77786689, 74.77562702, 75.78699034, 75.34429875,
- 76.8683999, 79.549265, 78.54301552, 79.38982041, 74.78362825,
- 75.0779789, 75.82356974, 75.02429286, 78.49091782, 76.4932699,
- 76.41659587, 73.83152331, 77.73677494, 75.56910047, 73.8839607,
- 73.96573537, 74.69086915, 78.0137119, 75.28458625, 75.55138471,
- 75.38130719, 75.22102212, 76.80128636, 76.83220998, 75.93115587,
- 75.05687109, 74.95654951, 79.03163996, 75.89676925, 74.5272369,
- 74.97973482, 73.64555241, 75.98528321, 75.18110421, 74.81253983,
- 74.47907039, 75.51657341, 76.45153187, 75.82539348, 73.55867513,
- 73.46464288, 76.44096717, 75.10450099, 72.95222878, 75.17468584,
- 75.1068783, 74.95677152, 75.10449727, 75.70520186, 74.2803231,
- 74.2443118, 73.68395474, 75.24109405, 74.2571342, 74.88153597,
- 75.17068346, 75.79864853, 76.14970876, 74.90805888, 76.35649063,
- 72.96335162, 74.80592276, 76.19134328, 72.90512979, 72.13825143,
- 76.6120901, 73.61039096, 75.53510584, 73.15969612, 73.37091497,
- 75.7222139, 76.17043437, 74.1615178, 76.57041232, 74.05204865,
- 74.28777403, 73.33920095, 73.32087641, 74.80418857, 72.91587925,
- 75.88530626, 71.92349202, 73.06891304, 73.59358493, 75.01424631,
- 73.79324418, 73.90504796, 74.23715714, 72.76547829, 74.92804893,
- 71.61463472, 74.59838429, 71.99078556, 72.03242216, 72.33034792,
- 71.69663043, 73.99669254, 75.3526135, 71.72645885, 76.23799148,
- 73.63978428, 73.2878603, 73.72544464, 73.61002546, 74.2741748,
- 71.36826774, 72.49439287, 73.1690653, 72.70995669, 73.57717672,
- 74.6790249, 72.79072302, 73.54586682, 71.13449559, 73.63791211,
- 73.08465566, 70.8469633, 72.08980727, 73.69844312, 71.1524809,
- 71.3383815, 74.57769191, 71.2581346, 71.87553852, 71.15980274,
- 70.6091649, 71.55671494, 72.52578437, 69.86983284, 70.23822074,
- 71.03121715, 71.43148232, 71.94143532, 69.6998805, 70.44945668,
- 71.92178271, 71.36934355, 71.14850777, 72.14536498, 70.10278797,
- 72.68736479, 70.44474159, 72.25641771, 72.48415874, 71.99337322,
- 71.47806659, 73.80552756, 69.94625879, 69.85928401, 70.13856729,
- 71.61738468, 69.32056042, 71.46582481, 70.45302537, 73.39158875,
- 71.96381822, 69.58974158, 71.94068167, 67.52300928, 68.85319126,
- 71.06770095, 69.70757978, 71.52010128, 71.77937028, 69.83472779,
- 69.79899317, 70.23177589, 69.61458741, 71.18053482, 70.29947675,
- 70.21690922, 71.12242153, 70.57951463, 71.35529828, 70.22823771,
- 70.21971418, 70.47337087, 69.73845951, 70.71907322, 69.91173287,
- 69.68827517, 69.91716806, 69.34883153, 74.1904669, 68.70172436,
- 70.70605023, 71.49519684, 69.90130057, 71.91092983, 69.8793647,
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- 52.3506678, 50.00237641, 50.46956439, 49.49679562, 52.02368409,
- 52.00840758, 48.11574761, 51.56974458, 52.29982224, 49.64640702,
- 51.75805136, 49.54765166, 49.96695634, 51.00619781, 47.9263993,
- 48.59324828, 54.02031396, 51.85537934, 50.64181188, 52.38032751,
- 49.07337457, 52.76331737, 50.78364762, 51.51359204, 48.29851345,
- 50.45156191, 48.60250589, 47.49652071, 51.08858749, 50.37017836,
- 48.96585564, 51.66668931, 50.43403636, 49.55074966, 51.17528373,
- 48.646493, 50.29508404, 49.80925205, 49.68035976, 49.91670365,
- 47.21912107, 50.93150271, 49.8462539, 51.47358518, 50.04053062,
- 50.66848798, 50.96512812, 47.83424212, 51.074619, 50.9205553,
- 48.68129483, 51.35786843, 48.32656463, 51.91123497, 49.5911589,
- 49.71312591, 52.23435798, 49.54435529, 50.01496335, 49.95629841,
- 49.90336451, 49.37411987, 51.67442667, 50.32949952, 50.48855263,
- 49.68242482, 53.07603501, 45.99775939, 50.17714143, 50.78352834,
- 48.36739597, 51.66583425, 47.56810045, 50.12963237, 47.70099105,
- 51.32590012, 51.15861172, 51.70600683, 47.52344302, 48.96908595,
- 49.8872012, 51.62510173, 48.61126644, 51.08746905, 51.65434643,
- 49.75058731, 46.02035273, 47.47760714, 49.45573221, 49.84249778,
- 49.14341689, 50.49799886, 48.31027414, 47.82737113, 51.23326584,
- 49.05937476, 47.37579607, 48.28400861, 49.70046761, 51.13190256,
- 49.35211177, 49.25452665, 48.22757306, 49.84350917, 48.37902535,
- 50.25993233, 46.84149693, 48.52661618, 48.91242715, 50.6058431,
- 48.02183812, 49.20977133, 50.12674573, 48.88122243, 49.30254354,
- 50.24175522, 48.13594325, 49.89704255, 49.13698254, 46.14847664,
- 50.9974204, 48.14950444, 47.73756921, 47.14284531, 49.66814215,
- 48.63324316, 50.18253066, 48.82232156, 48.9528056, 51.12258884,
- 46.97937413, 48.90859586, 48.078761, 50.87910313, 50.51298837,
- 48.94736348, 50.46056681, 47.03734932, 49.88878016, 49.18173496,
- 48.371876, 49.8570422, 50.3486331, 48.33283184, 50.89855763,
- 48.43359649, 49.06556292, 47.82607215, 48.13477573, 47.26081906,
- 48.79693584, 51.43157184, 49.38134665, 49.02504851, 51.47554705,
- 48.94351266, 50.24940035, 47.21996907, 50.62074302, 48.71038689,
- 49.61172928, 49.51119665, 46.86533315, 52.17898536, 46.41470216,
- 48.83824506, 51.10080536, 47.68610786, 48.19002165, 53.25329176,
- 47.15899348, 50.10955576, 50.85246046, 50.35858658, 47.53958299,
- 50.00220699, 49.58345517, 49.38131622, 49.9552403, 51.67244513,
- 49.39609772, 47.33083548, 49.60214437, 49.32387365, 49.33544588,
- 47.96521476, 48.46712509, 49.29610904, 48.81633282, 50.29713922,
- 50.05502429, 47.58283358, 47.87064155, 49.96921084, 47.84859141,
- 46.92878661, 47.67439745, 49.27681919, 49.07294303, 48.22898062,
- 50.61733466, 47.7189316, 48.19067194, 48.23381424, 48.38284268,
- 48.5775388, 48.81268961, 50.26814271, 47.08296601, 50.48029145,
- 47.4851254, 45.87236041, 48.02295976, 50.07151452, 48.46464226,
- 50.36367153, 47.83584821, 49.10618446, 49.10265469, 50.4185086,
- 47.15192772, 48.13237111, 48.33532715, 45.3153211, 49.23831397,
- 49.31790475, 46.6383609, 48.76938039, 48.98999085, 48.93124383,
- 48.90273597, 48.55262327, 48.31076794, 46.6916889, 51.59277358,
- 47.8268692, 49.19577973, 48.26682164, 49.19152878, 47.44213378,
- 48.47805185, 48.27639326, 48.9644763, 47.47787724, 50.29954586,
- 48.26765234, 50.52738604, 51.1991314, 48.25261691, 47.60141451,
- 48.54978419, 48.14680822, 50.89965802, 49.93528839, 46.2656863,
- 50.68578916, 50.64060155, 49.1055874, 47.95383243, 51.49176531,
- 47.02288199, 48.63848468, 49.80215084, 48.9937351, 46.49714686,
- 48.21454999, 49.42652264, 46.97805169, 50.0695457, 52.37071327,
- 46.44549979, 49.94083781, 49.92589961, 49.11896283, 49.19726675,
- 48.8373052, 46.27375372, 50.07735452, 49.01043956, 48.831747,
- 48.62724768, 48.88724168, 43.71057128, 47.52080541, 48.87730742,
- 46.66953825, 48.03489947, 47.93013278, 46.93473556, 46.5612022,
- 49.24567942, 48.11307283, 47.46535558, 49.69062771, 48.38576285,
- 49.12204295, 45.22570023, 47.69942089, 47.90933048, 47.59743617,
- 50.19240482, 48.47704663, 49.1101135, 49.64638339, 47.92403591,
- 47.41180546, 50.52338424, 48.16587322, 46.67461557, 49.16335222,
- 47.84441689, 49.03083145, 48.27285676, 46.24336362, 48.25389299,
- 51.31752149, 46.74862513, 51.1693147, 47.8978836, 47.90709376,
- 46.29908022, 46.17721173, 47.4089717, 48.31397761, 49.68277875,
- 51.99437075, 47.24360887, 45.45215971, 46.2817328, 47.32813918,
- 48.9271041, 48.42709031, 48.01701981, 48.84388508, 46.88849086,
- 49.35684472, 46.182204, 46.6525444, 47.30963056, 48.20125466,
- 48.73841812, 50.02372819, 45.85635522, 49.14544406, 49.90740559,
- 46.08463023, 47.78581441, 46.54522004, 47.53810545, 50.17820039,
- 47.71822933, 49.02277849, 46.30133758, 48.86444256, 46.00802067,
- 45.83803388, 45.31529088, 46.22807795, 48.29491889, 47.40502217,
- 47.02931806, 49.37463735, 46.29302506, 48.83639382, 47.04947176,
- 48.89951064, 48.41738934, 46.05331967, 47.33507465, 48.96855365,
- 48.78303395, 47.60737065, 46.90315461, 46.16867964, 47.99242064,
- 49.6301018, 48.37438503, 46.81777148, 47.47262078, 47.69148055,
- 45.02854792, 46.32347018, 46.85386698, 46.70799955, 46.51895617,
- 47.44014772, 45.65866433, 50.17560801, 48.23812406, 46.38860977,
- 47.50990316, 45.22491595, 46.78734552, 46.07455513, 47.32627594,
- 46.52049433, 48.91388822, 49.37134994, 46.93988398, 48.08381196,
- 46.99298396, 44.59855881, 47.31529203, 46.85967395, 48.88782424,
- 45.55644483, 46.43875015, 45.06783561, 47.13336619, 47.39166498,
- 48.95850534, 45.82770661, 47.78814395, 45.87340733, 47.79042687,
- 47.20417906, 47.52862623, 46.87895752, 47.95924382, 45.62654178,
- 45.84824009, 47.3693143, 48.29626289, 47.82453188, 46.22738151,
- 45.75582566, 46.68768967, 46.52388609, 49.04599276, 49.3420453,
- 49.62374966, 46.7286964, 45.82540313, 47.60506104, 47.35536499,
- 47.1698668, 49.86558537, 44.15559291, 47.80788356, 49.13069025,
- 47.39066889, 47.32058291, 49.38370913, 47.78814581, 47.72790779,
- 47.37484336, 48.53174889, 46.89314994, 47.32849846, 48.18963226,
- 49.34947666, 46.6823194, 44.55350791, 48.25812406, 47.75037012,
- 45.9056424, 46.37197348, 47.32019127, 48.52970085, 48.84019016,
- 47.42864679, 48.60401525, 48.4959618, 42.71099033, 47.99749963,
- 47.11429438, 47.45238084, 46.68243998, 47.02397774, 46.73904732,
- 46.28407128, 42.87367229, 47.2777852, 47.97150217, 47.47546872,
- 47.82988241, 44.02934717, 46.00774567, 44.73794902, 47.42263441,
- 46.89568035, 47.73856744, 46.69788575, 47.31625979, 47.36135648,
- 45.42372243, 46.37245991, 47.36334758, 48.84048578, 45.55464241,
- 46.10593582, 48.46040977, 46.57893333, 48.24397811, 46.26489521,
- 47.44188555, 47.83101916, 48.15602988, 47.47870314, 47.69725973,
- 46.03012023, 47.45267199, 45.84809532, 46.77537042, 47.81241082,
- 46.5114458, 48.36007307, 46.65994596, 46.38590272, 49.53688092,
- 46.08943171, 47.11794954, 47.62007326, 46.77363833, 46.46017129,
- 47.78244837, 48.05027318, 47.12172928, 49.10122618, 44.74898731,
- 44.13461826, 45.86859372, 47.02350571, 47.66420687, 46.23365158,
- 48.97025813, 46.94072569, 48.78699892, 45.88260644, 45.17578008,
- 48.32027428, 46.65464326, 45.42423998, 45.68884457, 45.11416846,
- 50.64665161, 46.73820616, 44.60276907, 46.64439725, 47.19955709,
- 46.36609819, 47.0413817, 45.12295717, 44.80186107, 49.00193353,
- 47.976253, 46.14217462, 45.24139658, 46.96814406, 46.48947903,
- 45.45483444, 47.37707199, 48.79510407, 44.74752298, 44.57291786,
- 45.74759363, 45.94866229, 44.64113453, 45.43445381, 48.11458179,
- 47.42690058, 46.9029463, 45.65942858, 46.85245684, 48.95101273,
- 46.58683243, 45.84088048, 47.7773991, 46.39678091, 47.56579937,
- 46.63719269, 51.15467375, 44.88160144, 49.2025143, 50.66840359,
- 45.61101668, 47.66557041, 44.62406741, 47.26377156, 45.38735222,
- 46.14266112, 47.64243355, 47.33878635, 46.74841959, 46.47681254,
- 47.09399527, 46.68782735, 48.62113214, 46.48788694, 45.42268181,
- 47.16763203, 44.70327301, 46.82300862, 47.13952842, 43.66012491,
- 43.93676197, 47.40317503, 46.32725053, 46.49187467, 47.23056011,
- 46.7613803, 49.95869996, 47.59461686, 49.63824186, 46.50441385,
- 47.18015836, 44.3099505, 49.23870527, 44.58418426, 46.09863721,
- 44.64833153, 46.74440667, 48.3018921, 46.80030809, 44.98428767,
- 42.93431268, 47.82593913, 46.26167919, 48.0902586, 46.12866623,
- 43.48032186, 47.33538622, 45.76988797, 46.29879358, 49.79043602,
- 42.62085603, 45.71594682, 46.52186009, 47.13697014, 48.50388741,
- 43.22042805, 44.93871623, 47.55933907, 47.78019495, 45.04956556,
- 46.45838194, 48.29944958, 44.88860625, 46.54581886, 45.71152084,
- 45.72296563, 46.49448033, 45.55039039, 46.22045458, 47.42782414,
- 44.07255108, 48.26874715, 47.5204795, 47.1337446, 47.84326159,
- 46.63224302, 46.61549044, 43.55608883, 45.84882753, 47.30500215,
- 47.47601836, 45.20485351, 48.2945965, 46.80742963, 47.18170177,
- 45.14698067, 44.95741067, 48.08841285, 45.60241605, 48.08675353,
- 47.10104534, 46.27042907, 44.76196322, 44.85858866, 47.4266035,
- 46.48647077, 46.7627719, 48.41688797, 47.01995636, 45.72807726,
- 45.91887011, 48.45922398, 43.2301402, 47.05882433, 44.56947932,
- 45.54738502, 46.0571001, 44.60466781, 49.27456269, 46.59190667,
- 45.50003112, 44.504287, 42.57398237, 47.065903, 47.19546833,
- 45.42504976, 47.87709923, 45.85797557, 47.2203195, 44.62287244,
- 45.17060364, 44.9063807, 44.19356869, 47.52569177, 45.75253315,
- 46.82864278, 44.91954823, 44.43950133, 46.66823264, 47.64431357,
- 46.57875476, 46.47256268, 43.30172834, 45.09087795, 48.32023412,
- 45.23973431, 47.09003625, 45.6177087, 48.20682562, 46.73706528,
- 43.60833919, 47.07241511, 46.6706366, 46.03267592, 45.93587553,
- 46.70148978, 49.20116114, 45.23934094, 46.75309841, 44.85915855,
- 48.88880298, 44.9614572, 43.3868302, 45.40129593, 46.43889776,
- 45.88336428, 45.1059271, 45.20395543, 44.82545692, 45.20751869,
- 46.89540149, 42.94405937, 46.19252319, 46.53868137, 46.60512431,
- 44.91742447, 46.9548162, 46.5482309, 45.40563964, 44.17918456,
- 45.83888446, 47.29804539, 48.71969097, 43.83807917, 45.68657121,
- 44.50284763, 45.13621865, 47.29664164, 43.58496476, 49.38687518,
- 44.34423725, 46.59713179, 46.39881514, 46.89151227, 47.10282176,
- 44.87918024, 43.04891339, 46.04773455, 45.49310318, 47.58866801,
- 45.75686759, 47.89649419, 43.97431989, 46.94638184, 46.16877428,
- 47.64785301, 45.89139306, 45.5507501, 45.48660009, 47.28411938,
- 46.20095812, 45.93171489, 45.61300329, 43.95132512, 46.4593379};
-
-const float SIMULATED_VEAST[GPS_DATA_SIZE] = {
- 1.123925133, -1.120688682, 3.077857733, -1.97573061, -1.624232809,
- -0.243835631, 0.604868232, -0.995493815, 0.74131936, -1.201807635,
- -1.080352028, -0.848625068, -1.464741105, -0.803565782, -0.568754275,
- 0.491804544, 2.147147298, -0.351163696, -0.222060087, 0.803585041,
- 0.762989586, 2.330660768, 1.451482974, -0.240341058, -1.030122575,
- 1.479906643, -2.308339787, 0.540638945, -1.259205664, -0.40142712,
- 2.109759595, -0.341807264, -1.340056391, -0.762490265, -0.08466474,
- 0.31631243, -1.249806725, 2.592886512, 0.593182867, 0.006891127,
- 0.231485122, -2.530822571, -0.764450711, -2.35766534, -1.682172022,
- 0.524918741, -0.871117864, 1.150666821, -1.983310449, -0.102733929,
- -1.611250414, 1.11003025, 1.133274016, 0.192212178, -0.02447497,
- 1.302048961, 1.760127826, 2.219839547, 1.146604176, 1.817096788,
- 0.907950593, -1.699113212, 0.826883139, -0.430019737, 0.93261029,
- 0.636172031, 0.204243267, 1.117425706, 0.731854873, 2.653820492,
- -3.004174156, -0.084773495, 1.539299233, -0.739260309, -0.239592605,
- 0.811554368, -1.675241808, 3.682571182, -1.090180536, 2.538447461,
- 0.891217563, -0.720548638, -1.647123637, -1.418638042, 0.192431562,
- 5.008987073, -0.483707112, -2.166579384, 2.339332231, 0.731724891,
- -2.038842428, -0.560808188, -1.395576267, -0.672463363, -0.360154814,
- -0.376780703, -0.824452193, 0.612824495, -2.13915436, 0.495738433,
- 2.757305122, -0.963169877, 0.665738743, -2.241899989, -1.66327343,
- -0.850889616, -0.246099374, 3.374650946, -1.284991136, -0.852165657,
- 2.682144448, -0.735207943, -1.560123549, -1.11010547, 0.471665185,
- -3.907441645, -0.992524383, 0.208134188, 1.248364079, 0.68021698,
- -0.23844202, 0.498925016, -1.765530472, 0.797281356, -2.986063021,
- 0.379582615, 0.132366784, -1.676147953, 1.599897131, 1.677280155,
- -1.353206824, 3.892698525, -0.592720481, 1.619602166, -0.23232626,
- 0.981976372, 0.331297644, 1.345503544, -0.700362291, -0.91253154,
- -1.802800875, 0.323661298, 0.38721404, -0.32296837, 1.319951062,
- -0.223409915, 1.114525166, -1.959925981, -0.133233418, 3.774554686,
- 2.483916399, -0.159555899, -1.307826225, 1.268905046, -1.033859725,
- -0.478664019, -1.44305206, -0.421515496, 0.284244701, -0.399355006,
- -3.066429233, 0.062996776, 0.218999928, 1.959552241, -0.541084666,
- -0.099679173, 0.628680116, -0.479385665, -1.354715944, -0.146433004,
- 0.093946168, -0.06390901, 1.052413396, 1.968298014, 1.696012951,
- -0.006671612, -1.841288495, -0.114286564, 0.575346371, -3.018347271,
- 1.726893298, -1.608543002, 0.651820675, -0.599311177, -1.263546871,
- -1.623935643, 1.413595168, 2.267897719, -1.112612345, -1.233317848,
- -0.341568786, 1.336030287, -0.610093603, 1.62426153, -1.337912214,
- -0.805964196, -0.953813731, 0.628590165, -1.206835177, -3.176868665,
- -0.132373141, -0.004579647, 1.056617665, -1.561324964, 3.010497929,
- -0.788169761, -0.042703416, 1.247037718, -0.978336561, -0.870887148,
- 0.761751466, -2.029527982, 0.688403906, 1.606771084, -2.184468964,
- -2.70154824, 2.150222559, -1.168684544, -0.870580755, -0.622226201,
- -0.005271962, -1.305787183, -1.290702848, 0.965814133, 0.590940206,
- -1.432834854, 1.971998036, -2.439830054, 1.428304645, 2.536641416,
- -2.014655671, 0.40976155, 0.555717656, 0.399549594, 1.218619603,
- -0.968256401, 2.076868069, -1.605360952, 0.294550963, -0.912458987,
- 0.850484311, 2.01175084, 1.68982154, -0.096569938, -0.794252364,
- -0.353232642, -0.757313016, -0.25156108, 2.654295711, 1.070192085,
- 0.533094383, 1.432531405, -0.263281474, 0.570449426, -1.353791496,
- 2.267686646, 0.257606369, -1.502040189, 0.369209174, -0.58327102,
- -1.398750876, 0.17589707, 2.439454934, 2.33398271, -0.609801433,
- 0.924947067, -1.327405469, 0.390345077, -2.233184938, -1.349370953,
- -1.606178427, 0.566866939, 0.074954436, -1.671411752, 1.38804014,
- -1.558586871, -0.852136058, 1.612909797, 1.640117049, 2.400075718,
- 1.73825388, -2.293397308, -0.326435361, -1.807105589, 2.145946642,
- 0.476526935, 0.423026367, -1.63883838, 0.005559238, -0.981641993,
- -0.510066687, -0.629871704, 0.827877292, 0.995809113, -0.835897131,
- 0.979927278, 0.5539637, -0.114651219, 1.769314461, 0.654822784,
- 2.119309335, -0.483245068, 0.677621228, 0.762871088, 0.315761873,
- 1.686426781, 1.681554196, 3.745268612, -0.042513933, -0.487579968,
- 0.007881613, -2.351066252, 1.040764849, 1.354153666, -1.679230478,
- 1.288142608, 3.304530587, 0.537471923, 0.878843113, 0.74047792,
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- -0.280388008, -0.79212641, 2.458800809, 1.313987701, 0.703108899,
- -1.397646223, -1.582677315, 1.312790017, -1.486910204, 0.633946741,
- -0.256881439, 2.067897303, 2.481722326, -0.84814557, 0.28732032,
- -0.284214887, -0.041828072, -1.161012902, -1.70169471, -0.074733256,
- 0.125735971, 1.739011015, -1.255194305, -1.058735728, -0.973651084,
- 0.488282848, 0.934815237, 0.486467365, -1.565648596, 3.441606598,
- 0.211683453, -2.283196984, 0.184270804, 0.417195623, -1.405034279,
- -0.076054368, 1.584783224, -0.003135455, 1.409339729, -0.715932146,
- -2.640649556, 1.525658051, 3.042343981, -1.373483909, 1.572633691,
- 1.018089415, 3.971245117, 0.441086315, -0.062926057, 2.286728394,
- 0.570473322, -0.681163756, 0.650330916, 0.922985516, -0.630953637,
- -2.533212851, 2.592750505, -0.045107404, -1.392494488, -2.797720532,
- 1.020783918, 1.671664788, -0.235019709, 0.744736002, -1.517601615,
- 2.256849153, 2.090523962, 2.60398147, 0.378676667, -1.449549584,
- 1.092139771, 2.899815325, -1.832637271, -2.776032219, 1.03135609,
- -0.372958538, -1.090211998, 1.248494658, 0.58448001, 0.688642347,
- -0.754263922, -2.885575712, 0.919086543, -3.841311531, -1.75178116,
- 3.045766472, 2.589631709, 3.121029595, 2.073435349, 0.620360664,
- -0.541385749, -0.042689635, -2.379938645, -0.057167837, -3.246115673,
- 0.820910153, -0.384768879, 0.020306601, 1.186834386, 0.210583953,
- 0.869384476, -0.768637368, 0.009513777, -0.891858299, 1.607001697,
- 0.286264357, 0.132137018, -2.674998467, 0.257006206, 0.677868603,
- 2.601310752, -0.144490105, 0.664659897, -2.085568319, 2.28760246,
- 3.344528752, 1.729666589, 1.717457486, -0.125653334, 4.467710331,
- 2.087064038, 0.367153221, -1.061759864, 0.390129963, 1.469903071,
- 2.394681952, -1.149315042, 2.266347626, 1.030153451, -0.087997232,
- -1.660320676, 0.202804671, 2.816287157, 3.632231121, 2.64266144,
- 1.068537672, -0.168980476, 2.147994656, 0.34399136, 1.780024187,
- 1.593336942, 2.155929444, 1.579955892, -1.241889337, 0.077217715,
- 0.648339359, -1.057207702, 0.654047371, -1.405485163, 0.451083249,
- 2.922196733, -1.161332255, 0.634733978, -0.052460799, 1.014153865,
- 1.824880453, -0.049095127, -1.766937441, 0.9970873, -0.553968497,
- 0.507521904, -0.976342078, 1.022960964, -1.879712418, 0.612033994,
- -1.601029481, 3.605605168, 1.085561287, 1.791048571, 2.919575227,
- -2.783826825, 0.746994973, 1.612013384, -2.114449766, 1.521916866};
-
-const float ACCELEROMETER_DATA[MOTION_SENSOR_AXIS_NUM][IMU_DATA_SIZE] = {
- {-9.7563F, 29.18325888, 68.1828354, 66.58149024, 69.71237136,
- 75.1483278, 80.00262972, 84.37581, 88.12425024, 89.56043424,
- 89.56043424, 90.93198996, 92.32508844, 93.72536784, 93.91925268,
- 93.77563428, 93.61765404, 93.44531196, 93.39504552, 93.35914092,
- 93.33759816, 93.30169356, 93.25142712, 93.19397976, 93.15807516,
- 93.10780872, 93.15807516, 93.20116068, 93.30169356, 93.38068368,
- 93.40222644, 93.48839748, 93.56020668, 93.6751014, 93.711006,
- 93.81153888, 93.86180532, 93.9623382, 93.9982428, 94.070052,
- 94.06287108, 94.1418612, 94.20648948, 94.24239408, 94.2854796,
- 94.3931934, 94.37883156, 94.49372628, 94.50808812, 94.58707824,
- 94.55117364, 94.59425916, 94.65170652, 94.68761112, 94.68761112,
- 94.7163348, 94.73787756, 94.72351572, 94.63016376, 94.62298284,
- 94.58707824, 94.58707824, 94.5009072, 94.42191708, 94.36446972,
- 94.33574604, 94.20648948, 94.1059566, 94.04850924, 93.9264336,
- 93.91925268, 93.87616716, 93.73972968, 93.64637772, 93.55302576,
- 93.48839748, 93.35914092, 93.2442462, 93.16525608, 93.05036136,
- 93.0647232, 92.9570094, 92.8852002, 92.84211468, 92.7774864,
- 92.72003904, 92.67695352, 92.61950616, 92.61232524, 92.61950616,
- 92.64822984, 92.64822984, 92.64104892, 92.69131536, 92.82057192,
- 92.86365744, 92.91392388, 93.04318044, 93.10780872, 93.21552252,
- 93.22988436, 93.41658828, 93.6032922, 93.7469106, 93.98388096,
- 94.20648948, 94.45782168, 94.73069664, 94.94612424, 95.26208472,
- 95.26208472, 95.5421406, 95.84373924, 96.17406156, 96.41103192,
- 96.7269924, 96.97114368, 97.2655614, 97.53843636, 97.74668304,
- 97.73950212, 97.93338696, 98.14881456, 98.31397572, 98.38578492,
- 98.47195596, 98.53658424, 98.53658424, 98.53658424, 98.44323228,
- 98.42168952, 98.36424216, 98.22780468, 98.0554626, 97.96211064,
- 97.76104488, 97.60306464, 97.45944624, 97.301466, 97.09321932,
- 97.10040024, 96.85624896, 96.71263056, 96.50438388, 96.37512732,
- 96.16688064, 96.05916684, 95.9011866, 95.80065372, 95.6498544,
- 95.66421624, 95.49187416, 95.36979852, 95.2908084, 95.21181828,
- 95.1112854, 94.967667, 94.80250584, 94.67324928, 94.5368118,
- 94.55117364, 94.35010788, 94.17058488, 94.0341474, 93.8187198,
- 93.63201588, 93.3878646, 93.1365324, 92.98573308, 92.813391,
- 92.7774864, 92.65541076, 92.60514432, 92.47588776, 92.43280224,
- 92.36817396, 92.36099304, 92.37535488, 92.41125948, 92.454345,
- 92.48306868, 92.53333512, 92.633868, 92.71285812, 92.813391,
- 92.92828572, 93.05036136, 93.07908504, 93.12935148, 93.21552252,
- 93.2442462, 93.22270344, 93.21552252, 93.12217056, 93.08626596,
- 92.9570094, 92.79902916, 92.66259168, 92.48306868, 92.3107266,
- 92.29636476, 92.15274636, 91.90141416, 91.67880564, 91.46337804,
- 91.26231228, 91.01098008, 90.80991432, 90.66629592, 90.43650648,
- 90.45804924, 90.19953612, 89.99847036, 89.81894736, 89.581977,
- 89.33782572, 89.21575008, 88.99314156, 88.76335212, 88.54792452,
- 88.59101004, 88.31813508, 88.09552656, 87.8585562, 87.607224,
- 87.4636056, 87.26972076, 87.18354972, 87.02556948, 86.9250366,
- 86.93939844, 86.86040832, 86.75269452, 86.69524716, 86.58753336,
- 86.50854324, 86.40801036, 86.3146584, 86.25003012, 86.0633262,
- 86.09204988, 85.96997424, 85.79763216, 85.65401376, 85.44576708,
- 85.23033948, 85.10826384, 84.84975072, 84.6630468, 84.42607644,
- 84.41889552, 84.15320148, 83.93059296, 83.65053708, 83.4063858,
- 83.17659636, 82.87499772, 82.67393196, 82.40823792, 82.16408664,
- 82.19281032, 81.91275444, 81.682965, 81.4316328, 81.26647164,
- 81.0366822, 80.92178748, 80.72790264, 80.56274148, 80.41912308,
- 80.38321848, 80.25396192, 80.14624812, 79.98826788, 79.80156396,
- 79.67948832, 79.57895544, 79.40661336, 79.26299496, 79.14091932,
- 79.11219564, 78.92549172, 78.73160688, 78.5592648, 78.1284096,
- 77.733459, 77.36723208, 77.00818608, 76.56296904, 76.14647568,
- 76.13211384, 75.74434416, 75.27040344, 74.88981468, 74.32970292,
- 73.79113392, 73.23820308, 72.66372948, 72.11079864, 71.60813424,
- 71.60813424, 71.091108, 70.552539, 70.07859828, 68.95119384,
- 67.65144732, 66.3157962, 64.987326, 63.68757948, 62.3662902,
- 62.39501388, 60.75776412, 59.19232356, 57.57661656, 55.9752714,
- 54.3236598, 52.73667648, 51.22868328, 50.18744988, 49.17494016,
- 49.17494016, 48.112164, 47.09965428, 46.02251628, 44.98128288,
- 43.89696396, 42.87727332, 41.81449716, 40.75890192, 39.72484944,
- 39.75357312, 38.58308316, 37.4125932, 36.263646, 35.10751788,
- 33.90112332, 32.72345244, 31.53141972, 30.40401528, 29.24788716,
- 29.23352532, 28.10612088, 26.9643546, 25.75796004, 24.57310824,
- 23.45288472, 22.28239476, 21.10472388, 19.99168128, 18.8140104,
- 18.76374396, 17.65070136, 16.48739232, 15.33844512, 14.11768872,
- 12.97592244, 11.84133708, 10.6636662, 8.62428492, 8.03544948,
- 8.0426304, 7.5040614, 7.01575884, 6.52745628, 6.03915372,
- 5.48622288, 4.96919664, 4.49525592, 3.9854106, 3.41811792,
- 3.47556528, 2.81492064, 2.18299968, 1.59416424, 0.95506236,
- 0.33032232, -0.31596048, -0.88325316, -1.53671688, -2.154276,
- -2.16145692, -2.78619696, -3.21705216, -3.50428896, -3.8417922,
- -4.22238096, -4.55270328, -4.94047296, -5.27079528, -5.565213,
- -5.59393668, -5.93862084, -6.29766684, -6.63517008, -6.95113056,
- -7.30299564, -7.60459428, -7.96364028, -8.26523892, -8.66737044,
- -8.71763688, -9.2633868, -8.95460724, -9.5506236, -10.09637352,
- -10.67084712, -11.24532072, -11.848518, -12.4229916, -13.0692744,
- -13.06209348, -13.63656708, -14.30439264, -14.98658004, -15.67594836,
- -16.31505024, -17.01159948, -17.72251056, -18.36161244, -19.0653426,
- -19.03661892, -19.51774056, -19.9629576, -20.38663188, -20.80312524,
- -21.26988504, -21.67201656, -22.11005268, -22.55526972, -23.02202952,
- -23.0148486, -23.0148486, -22.95022032, -22.93585848, -22.95740124,
- -22.88559204, -22.87841112, -22.84250652, -22.799421, -22.77787824,
- -22.799421, -22.73479272, -22.75633548, -22.74197364, -22.69888812,
- -22.6917072, -22.63425984, -22.59835524, -22.59835524, -22.52654604,
- -22.5480888, -22.5121842, -22.49064144, -22.45473684, -22.44755592,
- -22.39728948, -22.37574672, -22.34702304, -22.31829936, -22.26803292,
- -22.2967566, -22.260852, -22.28239476, -22.27521384, -22.21058556,
- -22.1531382, -22.13159544, -22.12441452, -22.10287176, -22.1172336,
- -22.11005268, -22.06696716, -21.99515796, -22.02388164, -21.96643428,
- -21.94489152, -21.94489152, -21.88744416, -21.90898692, -21.85872048,
- -21.85153956, -21.81563496, -21.78691128, -21.7581876, -21.75100668,
- -21.70792116, -21.67201656, -21.66483564, -21.62893104, -21.38477976,
- -21.3991416, -21.34887516, -21.3273324, -21.33451332, -21.26988504,
- -21.26270412, -21.24116136, -21.19807584, -21.24116136, -21.16217124,
- -21.19807584, -21.16217124, -21.09754296, -21.08318112, -21.08318112,
- -21.04727652, -21.0400956, -21.01855284, -20.97546732, -20.9682864,
- -20.98264824, -20.98982916, -20.93956272, -20.91083904, -20.88929628,
- -20.8605726, -20.83902984, -20.83902984, -20.7887634, -20.77440156,
- -20.77440156, -20.72413512, -20.7169542, -20.68823052, -20.6810496,
- -20.65950684, -20.5733358, -20.58769764, -20.5733358, -20.53025028,
- -20.58051672, -20.55179304, -20.50870752, -20.465622, -20.50870752,
- -20.43689832, -20.4297174, -20.3938128, -20.3938128, -20.34354636,
- -20.37227004, -20.32918452, -20.3220036, -20.29327992, -20.27173716,
- -20.24301348, -20.26455624, -20.19274704, -20.17120428, -20.13529968,
- -20.14966152, -20.1424806, -20.11375692, -20.07785232, -20.05630956,
- -20.0706714, -19.98450036, -20.02040496, -19.9629576, -19.98450036,
- -19.98450036, -19.9988622, -19.95577668, -19.91987208, -19.90551024,
- -19.89832932, -19.86242472, -19.83370104, -19.84806288, -19.84088196,
- -19.76907276, -19.79061552, -19.76189184, -19.74753, -19.73316816,
- -19.75471092, -19.74753, -19.76189184, -19.69008264, -19.69008264,
- -19.70444448, -19.66135896, -19.66853988, -19.61827344, -19.6039116,
- -19.57518792, -19.58954976, -19.53928332, -19.55364516, -19.51055964,
- -19.52492148, -19.4602932, -19.45311228, -19.45311228, -19.43875044,
- -19.43875044, -19.40284584, -19.33103664, -19.3166748, -19.3166748,
- -19.30949388, -19.32385572, -19.30231296, -19.26640836, -19.26640836,
- -19.23050376, -19.19459916, -19.19459916, -19.16587548, -19.1730564,
- -19.1730564, -19.14433272, -19.1371518, -19.08688536, -19.05816168,
- -19.05098076, -19.05098076, -19.029438, -19.029438, -18.98635248,
- -18.97917156, -19.01507616, -18.93608604, -18.93608604, -18.93608604,
- -18.849915, -18.86427684, -18.83555316, -18.86427684, -18.80682948,
- -18.85709592, -18.7781058, -18.79964856, -18.8140104, -18.78528672,
- -18.76374396, -18.71347752, -18.69911568, -18.69193476, -18.64166832,
- -18.64166832, -18.670392, -18.64884924, -18.61294464, -18.64166832,
- -18.56985912, -18.51959268, -18.5267736, -18.50523084, -18.49804992,
- -18.51241176, -18.48368808, -18.44778348, -18.490869, -18.4549644,
- -18.40469796, -18.40469796, -18.40469796, -18.39751704, -18.36161244,
- -18.34006968, -18.28262232, -18.31852692, -18.28262232, -18.2754414,
- -18.28262232, -18.2754414, -18.29698416, -18.30416508, -18.25389864,
- -18.26107956, -18.2395368, -18.26107956, -18.21799404, -18.23235588,
- -18.2036322, -18.16054668, -18.14618484, -18.10309932, -18.12464208,
- -18.11746116, -18.10309932, -18.08873748, -18.07437564, -18.03129012,
- -18.03129012, -18.03847104, -18.00974736, -17.99538552, -17.95948092,
- -17.97384276, -17.9523, -17.96666184, -17.93075724, -17.90921448,
- -17.89485264, -17.90203356, -17.83740528, -17.8445862, -17.8086816,
- -17.83740528, -17.83740528, -17.8086816, -17.772777, -17.75841516,
- -17.70814872, -17.7009678, -17.68660596, -17.71532964, -17.65788228,
- -17.69378688, -17.65788228, -17.62197768, -17.65070136, -17.60043492,
- -17.61479676, -17.5573494, -17.58607308, -17.57889216, -17.51426388,
- -17.52862572, -17.50708296, -17.52862572, -17.49272112, -17.50708296,
- -17.47117836, -17.4496356, -17.44245468, -17.413731, -17.39218824,
- -17.40655008, -17.39218824, -17.34910272, -17.35628364, -17.33474088,
- -17.34910272, -17.34910272, -17.29883628, -17.3060172, -17.2701126,
- -17.29883628, -17.25575076, -17.25575076, -17.234208, -17.234208,
- -17.17676064, -17.19112248, -17.14085604, -17.1623988, -17.14803696,
- -17.14803696, -17.11213236, -17.14085604, -17.07622776, -17.09777052,
- -17.04750408, -17.01159948, -17.01159948, -16.99005672, -16.99005672,
- -16.99723764, -16.97569488, -16.96851396, -16.99005672, -16.9110666,
- -17.01159948, -17.00441856, -16.96851396, -16.9469712, -16.93260936,
- -16.92542844, -16.89670476, -16.88952384, -16.88234292, -16.9110666,
- -16.82489556, -16.86798108, -16.8392574, -16.81771464, -16.81771464,
- -16.82489556, -16.78181004, -16.77462912, -16.73872452, -16.74590544,
- -16.71718176, -16.68845808, -16.71718176, -16.68127716, -16.68127716,
- -16.65255348, -16.68127716, -16.65255348, -16.61664888, -16.63101072,
- -16.6238298, -16.60228704, -16.59510612, -16.53047784, -16.55920152,
- -16.5520206, -16.50175416, -16.52329692, -16.47303048, -16.50175416,
- -16.48739232, -16.46584956, -16.42276404, -16.42994496, -16.4443068,
- -16.40122128, -16.39404036, -16.4084022, -16.39404036, -16.36531668,
- -16.35095484, -16.36531668, -16.336593, -16.32941208, -16.28632656,
- -16.31505024, -16.28632656, -16.23606012, -16.24324104, -16.25042196,
- -16.2288792, -16.20733644, -16.21451736, -16.20733644, -16.1929746,
- -16.18579368, -16.13552724, -16.16425092, -16.14988908, -16.13552724,
- -16.10680356, -16.10680356, -16.07807988, -16.06371804, -16.05653712,
- -16.0493562, -16.02063252, -16.02781344, -16.04217528, -16.00627068,
- -15.98472792, -15.977547, -15.95600424, -15.92728056, -15.93446148,
- -15.9416424, -15.97036608, -15.92009964, -15.89855688, -15.9057378,
- -15.8698332, -15.8339286, -15.8339286, -15.84829044, -15.8339286,
- -15.8339286, -15.85547136, -15.798024, -15.80520492, -15.78366216,
- -15.77648124, -15.76930032, -15.73339572, -15.74057664, -15.71903388,
- -15.74775756, -15.70467204, -15.7621194, -15.73339572, -15.73339572,
- -15.73339572, -15.70467204, -15.71903388, -15.69749112, -15.63286284,
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-
-const float GYROSCOPE_DATA[MOTION_SENSOR_AXIS_NUM][IMU_DATA_SIZE] = {
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-
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- 43.268, 43.5, 43.442, 43.384, 43.384, 43.21, 43.21, 43.558, 43.848,
- 42.978, 43.442, 43.268, 43.21, 43.5, 43.268, 43.732, 43.384, 43.384,
- 43.21, 43.5, 43.674, 43.326, 43.79, 43.674, 43.558, 43.21, 43.442,
- 43.268, 43.268, 43.384, 43.616, 43.268, 43.442, 43.152, 43.848, 43.558,
- 43.21, 43.5, 43.442, 43.558, 43.674, 43.558, 43.326, 44.022, 43.268,
- 43.79, 43.732, 43.384, 43.848, 43.384, 43.79, 43.152, 43.384, 43.732,
- 43.558, 43.21, 43.558, 43.558, 43.5, 43.442, 43.442, 43.5, 43.906,
- 43.732, 43.558, 43.674, 43.442, 43.848, 43.732, 43.732, 43.326, 43.964,
- 43.674, 43.558, 43.79, 43.268, 43.616, 43.848, 43.732, 43.326, 43.384,
- 43.848, 43.848, 43.384, 43.442, 43.442, 43.732, 43.442, 43.5, 43.616,
- 43.674, 43.384, 43.442, 43.674, 43.384, 43.616, 43.616, 43.616, 43.268,
- 43.5, 43.5, 43.326, 43.384, 43.906, 43.558, 43.5, 43.21, 43.442,
- 43.558, 44.022, 43.906, 43.268, 43.558, 43.616, 43.732, 43.674, 43.442,
- 43.384, 43.558, 43.5, 43.442, 43.674, 43.442, 43.79, 43.442, 43.268,
- 43.732, 43.906, 43.326, 43.326, 43.616, 43.616, 43.79, 43.5, 43.79,
- 43.384, 43.674, 43.616, 43.558, 43.616, 43.674, 43.326, 43.906, 43.558,
- 43.79, 43.558, 43.558, 43.21, 43.674, 43.152, 43.442, 43.094, 43.616,
- 43.674, 43.616, 43.442, 43.674, 43.732, 43.558, 43.5, 42.688, 43.616,
- 43.5, 43.442, 43.616, 43.326, 43.558, 43.906, 43.152, 43.384, 43.384,
- 43.5, 43.384, 43.094, 43.442, 43.616, 43.152, 43.152, 43.5, 43.558,
- 43.616, 43.152, 43.326, 43.732, 43.326, 43.152, 43.152, 43.5, 43.326,
- 43.036, 43.5, 43.268, 43.326, 43.616, 43.326, 43.326, 43.036, 43.036,
- 43.152, 43.094, 43.152, 42.572, 42.92, 43.152, 42.978, 43.094, 43.036,
- 42.804, 43.21, 42.92, 42.92, 42.688, 42.92, 42.688, 43.036, 43.384,
- 42.804, 43.036, 42.862, 43.094, 43.268, 42.804, 43.268, 42.92, 42.746,
- 42.572, 42.746, 42.92, 43.094, 42.978, 42.456, 42.862, 42.978, 42.92,
- 42.862, 42.688, 42.862, 42.63, 42.746, 42.804, 42.572, 42.92, 42.862,
- 42.572, 42.92, 42.746, 42.746, 42.746, 42.746, 42.804, 42.978, 42.92,
- 42.746, 42.572, 42.746, 42.63, 42.804, 42.804, 42.456, 42.224, 42.688,
- 42.63, 42.63, 42.862, 42.572, 42.514, 42.572, 42.572, 42.514, 42.224,
- 42.34, 42.108, 42.456, 42.34, 42.224, 42.456, 42.746, 42.398, 42.398,
- 42.398, 42.166, 42.514, 42.456, 41.876, 42.108, 42.514, 41.934, 42.282,
- 42.166, 42.398, 42.108, 42.282, 42.108, 41.702, 42.108, 42.05, 42.108,
- 42.166, 41.818, 41.876, 41.76, 41.992, 41.818, 42.05, 41.992, 41.76,
- 42.34, 41.876, 42.166, 41.934, 41.702, 41.76, 41.586, 41.76, 41.76,
- 41.644, 41.528, 41.702, 41.818, 41.354, 41.934, 41.18, 41.586, 41.586,
- 41.586, 41.18, 41.412, 41.644, 41.528, 41.412, 41.18, 41.238, 41.354,
- 41.296, 41.354, 41.18, 41.412, 41.528, 41.122, 41.18, 41.122, 41.238,
- 41.122, 41.238, 41.064, 40.948, 40.832, 41.122, 40.832, 41.006, 40.89,
- 40.89, 40.484, 40.658, 40.716, 40.89, 40.89, 40.658, 40.89, 41.18,
- 41.064, 40.542, 40.658, 40.832, 40.89, 40.484, 40.6, 40.368, 40.658,
- 40.774, 40.542, 40.194, 40.078, 39.73, 40.31, 40.02, 40.252, 40.484,
- 40.252, 40.136, 40.252, 39.73, 39.846, 40.02, 39.788, 39.73, 39.788,
- 39.962, 39.324, 39.672, 39.904, 39.846, 39.788, 39.15, 39.556, 39.846,
- 39.266, 39.382, 39.614, 39.44, 39.904, 39.556, 39.324, 39.324, 39.44,
- 39.208, 38.976, 39.324, 38.976, 39.034, 39.15, 39.092, 39.208, 38.86,
- 39.324, 39.034, 38.628, 38.454, 38.802, 38.86, 39.208, 38.338, 38.744,
- 38.628, 38.57, 38.396, 38.164, 38.802, 37.99, 38.338, 38.396, 38.222,
- 38.106, 38.57, 38.28, 38.454, 38.164, 38.222, 38.222, 37.7, 38.106,
- 37.7, 37.99, 37.932, 37.758, 37.7, 37.758, 37.584, 37.816, 37.352,
- 37.352, 37.7, 37.584, 37.41, 37.584, 37.236, 37.642, 37.004, 37.526,
- 37.12, 37.236, 37.294, 36.772, 37.004, 36.598, 36.714, 36.714, 36.656,
- 36.482, 36.598, 36.946, 36.482, 36.946, 36.482, 36.54, 36.366, 36.308,
- 36.424, 36.308, 36.308, 35.902, 36.424, 35.96, 36.192, 36.018, 36.076,
- 35.902, 35.902, 35.786, 35.67, 35.728, 35.612, 35.902, 35.96, 35.554,
- 35.786, 35.612, 35.612, 35.496, 35.322, 35.496, 35.264, 35.148, 35.438,
- 34.742, 35.496, 35.322, 34.916, 35.38, 34.974, 34.858, 34.626, 34.916,
- 34.858, 34.742, 34.626, 34.8, 34.162}};
diff --git a/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.h b/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.h
deleted file mode 100644
index 191c01884..000000000
--- a/src/boards/Parafoil/mocksensors/mock_data/test-mock-data.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Mozzarelli
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-static const unsigned PRESSURE_DATA_SIZE = 2570;
-extern const float SIMULATED_PRESSURE[PRESSURE_DATA_SIZE];
-
-static const unsigned GPS_DATA_SIZE = 2570;
-extern const float SIMULATED_LAT[GPS_DATA_SIZE];
-extern const float SIMULATED_LON[GPS_DATA_SIZE];
-extern const float SIMULATED_VNORD[GPS_DATA_SIZE];
-extern const float SIMULATED_VEAST[GPS_DATA_SIZE];
-
-static const unsigned IMU_DATA_SIZE = 2570;
-static const unsigned MOTION_SENSOR_AXIS_NUM = 3;
-extern const float ACCELEROMETER_DATA[MOTION_SENSOR_AXIS_NUM][IMU_DATA_SIZE];
-extern const float GYROSCOPE_DATA[MOTION_SENSOR_AXIS_NUM][IMU_DATA_SIZE];
-extern const float MAGNETOMETER_DATA[MOTION_SENSOR_AXIS_NUM][IMU_DATA_SIZE];
\ No newline at end of file
diff --git a/src/boards/Parafoil/mocksensors/mock_data/test-mock-sensors.cpp b/src/boards/Parafoil/mocksensors/mock_data/test-mock-sensors.cpp
deleted file mode 100644
index d21fa7b4e..000000000
--- a/src/boards/Parafoil/mocksensors/mock_data/test-mock-sensors.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <Common.h>
-#include <mocksensors/MockSensors.h>
-
-using namespace DeathStackBoard;
-
-int main()
-{
- TimestampTimer::enableTimestampTimer();
-
- MockGPS gps;
- MockPressureSensor p_sensor;
- MockIMU imu;
- TestSensor test_sensor;
-
- int i = 0;
-
- while (true)
- {
-
- if (i == 10)
- {
- gps.signalLiftoff();
- p_sensor.signalLiftoff();
- TRACE("---------- LIFTOFF !!! ----------\n\n");
- }
-
- gps.sample();
- GPSData gps_data = gps.getLastSample();
- TRACE("GPS SAMPLE: \n");
- TRACE("lat = %f \n", gps_data.latitude);
- TRACE("lon = %f \n\n", gps_data.longitude);
-
- p_sensor.sample();
- PressureData pressure = p_sensor.getLastSample();
- TRACE("PRESSURE SAMPLE: \n");
- TRACE("pressure = %f \n\n", pressure.press);
-
- imu.sample();
- MockIMUData imu_data = imu.getLastSample();
- TRACE("IMU SAMPLE: \n");
- TRACE("accel x = %f \n", imu_data.accel_x);
- TRACE("accel y = %f \n", imu_data.accel_y);
- TRACE("accel z = %f \n", imu_data.accel_z);
- TRACE("gyro x = %f \n", imu_data.gyro_x);
- TRACE("gyro y = %f \n", imu_data.gyro_y);
- TRACE("gyro z = %f \n", imu_data.gyro_z);
- TRACE("magneto x = %f \n", imu_data.mag_x);
- TRACE("magneto y = %f \n", imu_data.mag_y);
- TRACE("magneto z = %f \n\n", imu_data.mag_z);
-
- test_sensor.sample();
- TestData test_data = test_sensor.getLastSample();
- TRACE("TEST SAMPLE: \n");
- TRACE("value = %f \n\n", test_data.value);
-
- miosix::Thread::sleep(1000);
-
- i++;
- }
-}
\ No newline at end of file
diff --git a/src/boards/Payload/Main/Sensors.h b/src/boards/Payload/Main/Sensors.h
index 0841df4d2..dd3a8cc9d 100644
--- a/src/boards/Payload/Main/Sensors.h
+++ b/src/boards/Payload/Main/Sensors.h
@@ -70,23 +70,24 @@ public:
Boardcore::TaskScheduler* scheduler);
/**
- * @brief Destroy the Sensors object and all its sensors
+ * @brief Destroy the Sensors object and all its sensors.
*/
~Sensors();
/**
* @brief Starts all the calibration procedures regarding some of the most
- * critical sensors
+ * critical sensors.
*/
void calibrate();
/**
- * @brief Starts the sensor manager and the task scheduler
- * @return true If all goes correctly
- * @return false If something fails
+ * @brief Starts the sensor manager and the task scheduler.
+ * @return True if all goes correctly.
*/
bool start();
+ bool isStarted();
+
// Kernel lock getters
Boardcore::InternalADCData getInternalAdcLastSample();
Boardcore::BatteryVoltageSensorData getBatteryVoltageLastSample();
@@ -157,4 +158,4 @@ private:
*/
void updateSensorsStatus();
};
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/boards/common/Algorithm.h b/src/boards/common/Algorithm.h
deleted file mode 100644
index 7f8ace5e3..000000000
--- a/src/boards/common/Algorithm.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Author: Luca Conterio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-class Algorithm
-{
-public:
- /**
- * @brief Initializes the Algorithm object, must be called as soon as the
- * object is created.
- * */
- virtual bool init() = 0;
-
- /**
- * @brief Starts the execution of the algorithm and set the running flag to
- * true.
- * */
- void begin() { running = true; }
-
- /**
- * @brief Terminates the algorithm's execution and sets the running flag to
- * false.
- * */
- void end() { running = false; }
-
- /**
- * @brief Checks wether the algorithm is in a running state or not, and
- * eventually calls the @see{step} routine.
- * */
- void update()
- {
- if (running)
- {
- step();
- }
- }
-
-protected:
- /**
- * @brief The actual algorithm step.
- */
- virtual void step() = 0;
-
- bool running = false;
-};
diff --git a/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h b/src/boards/common/Mavlink.h
similarity index 78%
rename from src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h
rename to src/boards/common/Mavlink.h
index 6b768ab2f..780856af1 100644
--- a/src/boards/Parafoil/TelemetriesTelecommands/Mavlink.h
+++ b/src/boards/common/Mavlink.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -20,22 +20,10 @@
* THE SOFTWARE.
*/
-#pragma once
-
-// Ignore warnings as these are auto-generated headers made with third party
-// tools
+// Ignore warnings as these are auto-generated headers made by a third party
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
#include <mavlink_lib/pyxis/mavlink.h>
#pragma GCC diagnostic pop
-
-#include <Parafoil/Configs/MavlinkConfig.h>
-#include <radio/MavlinkDriver/MavlinkDriver.h>
-
-namespace Parafoil
-{
-
-using MavDriver = Boardcore::MavlinkDriver<MAV_PKT_SIZE, MAV_OUT_QUEUE_LEN>;
-
-}
diff --git a/src/boards/common/ServoInterface.h b/src/boards/common/ServoInterface.h
deleted file mode 100644
index e549b35b1..000000000
--- a/src/boards/common/ServoInterface.h
+++ /dev/null
@@ -1,154 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Vincenzo Santomarco
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-/**
- * @brief Class for interfacing with 180° servo motors, works in degrees.
- *
- * This class provides all the methods for enabling/disabling servo
- * communication as well as methods for testing it (like reset, setMaxPosition
- * and selftest).
- * The function set(float) is used to send data to the servo and calls, in
- * sequence, the preprocessPosition() and the setPosition() functions. This
- * function must not be overridden and all the logic of preprocessing and
- * sending position to the actual servo must be implemented via those two
- * methods.
- * */
-class ServoInterface
-{
-public:
- /**
- * @brief Class constructor.
- *
- * @param minPosition The minimum position possible for the Servo
- * @param maxPosition The maximum position possible for the Servo
- */
- ServoInterface(float minPosition, float maxPosition)
- : MIN_POS(minPosition), MAX_POS(maxPosition), RESET_POS(minPosition)
- {
- }
-
- /**
- * @brief Class constructor.
- *
- * @param minPosition The minimum position possible for the Servo
- * @param maxPosition The maximum position possible for the Servo
- * @param resetPosition The reset position for the Servo
- */
- ServoInterface(float minPosition, float maxPosition, float resetPosition)
- : MIN_POS(minPosition), MAX_POS(maxPosition), RESET_POS(resetPosition)
- {
- }
-
- virtual ~ServoInterface() {}
-
- /**
- * @brief Enables the communication with the servo and sets it to its reset
- * position.
- */
- virtual void enable() = 0;
-
- /**
- * @brief Disables the communication with the servo.
- */
- virtual void disable() = 0;
-
- /**
- * @brief Sends the given input to the Servo.
- *
- * Before sending data the input is preprocessed in order to have a physical
- * consistent position to send to the servo. Do not override this method,
- * but use @see{setPosition} and @see{preprocessPosition}.
- *
- * @param angle The input to be sent to the Servo
- */
- void set(float angle, bool preprocess = false)
- {
- if (angle > MAX_POS)
- {
- angle = MAX_POS;
- }
- else if (angle < MIN_POS)
- {
- angle = MIN_POS;
- }
-
- if (preprocess)
- {
- setPosition(preprocessPosition(angle));
- }
- else
- {
- setPosition(angle);
- }
- }
-
- /**
- * @brief Sends the Servo the highest input possible
- */
- void setMaxPosition() { setPosition(MAX_POS); }
-
- /**
- * @brief Sends the Servo the lowest input possible
- */
- void setMinPosition() { setPosition(MIN_POS); }
-
- /**
- * @brief Sets servo to its reset position
- */
- void reset() { setPosition(RESET_POS); }
-
- /**
- * @return current actuator position (in degrees)
- */
- float getCurrentPosition() { return currentPosition; }
-
- virtual void selfTest() = 0;
-
- const float MIN_POS = 0;
- const float MAX_POS = 0;
- const float RESET_POS = 0;
-
-protected:
- /**
- * @brief Sends the data to the servo.
- *
- * @param angle Data to be sent to servo.
- */
- virtual void setPosition(float angle) = 0;
-
- /**
- * @brief Applies any transformation needed to the data before actually
- * sending it to the servo.
- *
- * @param angle Non normalized input position.
- *
- * @returns Normalized input position.
- */
- virtual float preprocessPosition(float angle) { return angle; };
-
- /**
- * @brief Actuator's current position.
- */
- float currentPosition = 0;
-};
diff --git a/src/boards/common/SystemData.h b/src/boards/common/SystemData.h
deleted file mode 100644
index f4253d251..000000000
--- a/src/boards/common/SystemData.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/* Copyright (c) 2019 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <ostream>
-#include <string>
-
-struct SystemData
-{
- long long timestamp = 0;
- float cpu_usage = 0.0f;
- float cpu_usage_min = 0.0f;
- float cpu_usage_max = 0.0f;
- float cpu_usage_mean = 0.0f;
-
- float free_heap = 0.0f;
- float min_free_heap = 0.0f;
-
- static std::string header()
- {
- return "timestamp,cpu_usage,cpu_usage_min,cpu_usage_max,cpu_usage_mean,"
- "free_heap,min_free_heap\n";
- }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << cpu_usage << "," << cpu_usage_min << ","
- << cpu_usage_max << "," << cpu_usage_mean << "," << free_heap << ","
- << min_free_heap << "\n";
- }
-};
diff --git a/src/entrypoints/Parafoil/parafoil-entry.cpp b/src/entrypoints/Parafoil/parafoil-entry.cpp
index ba18445ff..b742cba47 100644
--- a/src/entrypoints/Parafoil/parafoil-entry.cpp
+++ b/src/entrypoints/Parafoil/parafoil-entry.cpp
@@ -20,98 +20,51 @@
* THE SOFTWARE.
*/
+#include <Parafoil/Actuators/Actuators.h>
+#include <Parafoil/BoardScheduler.h>
#include <Parafoil/Configs/SensorsConfig.h>
-#include <Parafoil/Configs/XbeeConfig.h>
-#include <Parafoil/ParafoilTest.h>
#include <Parafoil/Configs/WingConfig.h>
-#include <common/SystemData.h>
+#include <Parafoil/NASController/NASController.h>
+#include <Parafoil/Radio/Radio.h>
+#include <Parafoil/Sensors/Sensors.h>
+#include <Parafoil/Wing/WingController.h>
#include <diagnostic/CpuMeter/CpuMeter.h>
+#include <events/EventBroker.h>
#include <miosix.h>
using namespace miosix;
-using namespace Parafoil;
using namespace Boardcore;
+using namespace Parafoil;
-void enablePin()
+int main()
{
- // GPS_CS.mode(miosix::Mode::OUTPUT);
- IMU_CS.mode(miosix::Mode::OUTPUT);
- PRESS_CS.mode(miosix::Mode::OUTPUT);
-
- SCK.mode(miosix::Mode::ALTERNATE);
- MISO.mode(miosix::Mode::ALTERNATE);
- MOSI.mode(miosix::Mode::ALTERNATE);
- GPS_TX.mode(miosix::Mode::ALTERNATE);
- GPS_RX.mode(miosix::Mode::ALTERNATE);
-
- SCK.alternateFunction(5);
- MISO.alternateFunction(5);
- MOSI.alternateFunction(5);
- GPS_TX.alternateFunction(7);
- GPS_RX.alternateFunction(7);
-
- XBEE_SCK.mode(miosix::Mode::ALTERNATE);
- XBEE_SCK.alternateFunction(5);
- XBEE_MISO.mode(miosix::Mode::ALTERNATE);
- XBEE_MISO.alternateFunction(5);
- XBEE_MOSI.mode(miosix::Mode::ALTERNATE);
- XBEE_MOSI.alternateFunction(5);
-
- XBEE_CS.mode(miosix::Mode::OUTPUT);
- XBEE_CS.high();
-
- XBEE_ATTN.mode(miosix::Mode::INPUT);
-
- XBEE_RESET.mode(miosix::Mode::OUTPUT);
-
- SERVO1PIN.mode(miosix::Mode::ALTERNATE);
- SERVO1PIN.alternateFunction(2);
+ Logger::getInstance().start();
+ EventBroker::getInstance().start();
- SERVO2PIN.mode(miosix::Mode::ALTERNATE);
- SERVO2PIN.alternateFunction(3);
+ // Initialize the servo outputs
+ Actuators::getInstance().enableServo(PARAFOIL_SERVO1);
+ Actuators::getInstance().enableServo(PARAFOIL_SERVO2);
- // GPS_CS.high();
- IMU_CS.high();
- PRESS_CS.high();
-}
+ // Start the radio
+ Radio::getInstance().start();
-int main()
-{
- Stats cpu_stat;
- StatsResult cpu_stat_res;
- SystemData system_data;
+ // Start algorithms
+ NASController::getInstance().start();
+ WingController::getInstance().start();
- RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; // Enable SPI1 bus
- RCC->APB2ENR |= RCC_APB2ENR_SPI4EN; // Enable SPI4 bus
- enablePin();
+ // Start the sensors sampling
+ Sensors::getInstance().start();
- // TODO integrate all the logging stuff
- ParafoilTest::getInstance().start();
+ // Start the board task scheduler
+ BoardScheduler::getInstance().getScheduler().start();
- Logger* logger_service = &Logger::getInstance();
-
- for (;;)
+ // Periodically statistics
+ while (true)
{
Thread::sleep(1000);
- logger_service->log(logger_service->getStats());
-
- StackLogger::getInstance().updateStack(THID_ENTRYPOINT);
-
- system_data.timestamp = miosix::getTick();
- system_data.cpu_usage = CpuMeter::getCpuStats().mean;
- cpu_stat.add(system_data.cpu_usage);
-
- cpu_stat_res = cpu_stat.getStats();
- system_data.cpu_usage_min = cpu_stat_res.minValue;
- system_data.cpu_usage_max = cpu_stat_res.maxValue;
- system_data.cpu_usage_mean = cpu_stat_res.mean;
-
- system_data.min_free_heap = MemoryProfiling::getAbsoluteFreeHeap();
- system_data.free_heap = MemoryProfiling::getCurrentFreeHeap();
-
- logger_service->log(system_data);
-
- StackLogger::getInstance().log();
+ Logger::getInstance().log(CpuMeter::getCpuStats());
+ CpuMeter::resetCpuStats();
+ Logger::getInstance().logStats();
+ Radio::getInstance().logStatus();
}
- return 0;
}
--
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