diff --git a/scripts/logdecoder/General/logdecoder.cpp b/scripts/logdecoder/General/logdecoder.cpp
index 056abac66fed4887b8af2d9039190d31c4a26e77..d6226ce7dfcf4e7269812bc242826f169749e16f 100644
--- a/scripts/logdecoder/General/logdecoder.cpp
+++ b/scripts/logdecoder/General/logdecoder.cpp
@@ -109,6 +109,7 @@ void registerTypes(Deserializer& ds)
ds.registerType<RIGv2::ADC2Data>();
ds.registerType<RIGv2::TC1Data>();
ds.registerType<RIGv2::OxVesselWeightData>();
+ ds.registerType<RIGv2::RocketWeightData>();
ds.registerType<RIGv2::OxTankWeightData>();
ds.registerType<RIGv2::OxVesselPressureData>();
ds.registerType<RIGv2::OxFillingPressureData>();
diff --git a/scripts/logdecoder/RIGv2/logdecoder.cpp b/scripts/logdecoder/RIGv2/logdecoder.cpp
index 66050b858be7f799e367398ff75d7a069195b04f..6062e9ff7a2a7f5c962c439b4cd167fc406ea0e3 100644
--- a/scripts/logdecoder/RIGv2/logdecoder.cpp
+++ b/scripts/logdecoder/RIGv2/logdecoder.cpp
@@ -57,6 +57,7 @@ void registerTypes(Deserializer& ds)
ds.registerType<ADC2Data>();
ds.registerType<TC1Data>();
ds.registerType<OxVesselWeightData>();
+ ds.registerType<RocketWeightData>();
ds.registerType<OxTankWeightData>();
ds.registerType<OxVesselPressureData>();
ds.registerType<OxFillingPressureData>();
diff --git a/src/RIGv2/Configs/SensorsConfig.h b/src/RIGv2/Configs/SensorsConfig.h
index 7544c895a9e439723f35053cd9f31b286cd71839..ac9e7bea67ff55a6d2ee4a03fbf42bf729cd2237 100644
--- a/src/RIGv2/Configs/SensorsConfig.h
+++ b/src/RIGv2/Configs/SensorsConfig.h
@@ -27,6 +27,7 @@
#include <sensors/MAX31856/MAX31856.h>
#include <units/Frequency.h>
+#include <chrono>
#include <cstdint>
namespace RIGv2
@@ -38,6 +39,7 @@ namespace Config
namespace Sensors
{
+/* linter off */ using namespace std::chrono;
/* linter off */ using namespace Boardcore::Units::Frequency;
namespace ADS131M08
@@ -71,7 +73,7 @@ constexpr auto N2_VESSEL_1_PT_CHANNEL = Channel::CHANNEL_2;
constexpr auto N2_VESSEL_2_PT_CHANNEL = Channel::CHANNEL_3;
constexpr auto SERVO_CURRENT_CHANNEL = Channel::CHANNEL_4;
constexpr auto OX_VESSEL_LC_CHANNEL = Channel::CHANNEL_5;
-constexpr auto OX_TANK_LC_CHANNEL = Channel::CHANNEL_6;
+constexpr auto ROCKET_LC_CHANNEL = Channel::CHANNEL_6;
constexpr auto N2_FILLING_PT_CHANNEL = Channel::CHANNEL_7;
constexpr float CH0_SHUNT_RESISTANCE = 29.283f;
@@ -124,17 +126,14 @@ constexpr float N2_TANK_MAX_PRESSURE = 250; // bar
namespace LoadCell
{
-constexpr unsigned int CALIBRATE_SAMPLE_COUNT = 10;
-constexpr unsigned int CALIBRATE_SAMPLE_PERIOD = 40;
-
-// LC Tank sensor calibration data
-// - 1.866kg V: 0.000941
-// - 5.050kg V: 0.002550
-// - 6.916kg V: 0.003559
-constexpr float TANK_P0_VOLTAGE = 0.000941;
-constexpr float TANK_P0_MASS = 1.866;
-constexpr float TANK_P1_VOLTAGE = 0.003559;
-constexpr float TANK_P1_MASS = 6.916;
+constexpr auto CALIBRATE_SAMPLE_COUNT = 10;
+constexpr auto CALIBRATE_SAMPLE_PERIOD = 40ms;
+
+// Rocket ramp loadcell calibration data
+constexpr float ROCKET_P0_VOLTAGE = -0.0004273;
+constexpr float ROCKET_P0_MASS = 10.005;
+constexpr float ROCKET_P1_VOLTAGE = -0.0018125;
+constexpr float ROCKET_P1_MASS = 40.290;
/* OLD CALIBRATION DATA (before 07/09/2024, before new flipping)
// LC Vessel sensor calibration data
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index 5422349cb6e8ed8c546c8de0f32291e17ebf06cc..944fab614327106925678affebf65f305f1ca670 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -564,7 +564,7 @@ bool Radio::enqueueSystemTm(uint8_t tmId)
tm.timestamp = TimestampTimer::getTimestamp();
// Sensors
- tm.rocket_mass = sensors->getOxTankWeight().load;
+ tm.rocket_mass = sensors->getRocketWeight().load;
tm.ox_vessel_mass = sensors->getOxVesselWeight().load;
tm.ox_vessel_pressure = sensors->getOxVesselPressure().pressure;
@@ -873,7 +873,7 @@ bool Radio::enqueueSensorTm(uint8_t tmId)
tm.timestamp = data.loadTimestamp;
tm.load = data.load;
- strcpy(tm.sensor_name, "TankWeight");
+ strcpy(tm.sensor_name, "OxTankWeight");
mavlink_msg_load_tm_encode(Config::Radio::MAV_SYSTEM_ID,
Config::Radio::MAV_COMPONENT_ID, &msg,
diff --git a/src/RIGv2/Sensors/Sensors.cpp b/src/RIGv2/Sensors/Sensors.cpp
index 969505aa90a7f872479b7a51dd6420b492f5d67f..614a961aa01b1b0ef8a0e8bb2fe5200cad328f14 100644
--- a/src/RIGv2/Sensors/Sensors.cpp
+++ b/src/RIGv2/Sensors/Sensors.cpp
@@ -49,6 +49,7 @@ bool Sensors::start()
n2Vessel2PressureInit();
n2FillingPressureInit();
oxVesselWeightInit();
+ rocketWeightInit();
oxTankWeightInit();
}
@@ -166,18 +167,17 @@ TemperatureData Sensors::getOxTankTemperature()
LoadCellData Sensors::getOxVesselWeight()
{
- if (oxVesselWeight)
- return oxVesselWeight->getLastSample();
- else
- return {};
+ return oxVesselWeight ? oxVesselWeight->getLastSample() : LoadCellData{};
+}
+
+LoadCellData Sensors::getRocketWeight()
+{
+ return rocketWeight ? rocketWeight->getLastSample() : LoadCellData{};
}
LoadCellData Sensors::getOxTankWeight()
{
- if (oxTankWeight)
- return oxTankWeight->getLastSample();
- else
- return {};
+ return oxTankWeight ? oxTankWeight->getLastSample() : LoadCellData{};
}
CurrentData Sensors::getUmbilicalCurrent()
@@ -290,7 +290,9 @@ void Sensors::calibrate()
oxVesselStats.add(oxVesselWeight->getLastSample().load);
oxTankStats.add(oxTankWeight->getLastSample().load);
- Thread::sleep(Config::Sensors::LoadCell::CALIBRATE_SAMPLE_PERIOD);
+ Thread::sleep(
+ milliseconds{Config::Sensors::LoadCell::CALIBRATE_SAMPLE_PERIOD}
+ .count());
}
oxVesselWeight->updateOffset(oxVesselStats.getStats().mean);
@@ -321,6 +323,7 @@ std::vector<SensorInfo> Sensors::getSensorInfos()
PUSH_SENSOR_INFO(oxTankPressure, "OxTankPressure");
PUSH_SENSOR_INFO(n2TankPressure, "N2TankPressure");
PUSH_SENSOR_INFO(oxVesselWeight, "OxVesselWeight");
+ PUSH_SENSOR_INFO(rocketWeight, "RocketWeight");
PUSH_SENSOR_INFO(oxTankWeight, "OxTankWeight");
return infos;
@@ -401,7 +404,7 @@ void Sensors::adc1Init()
.offset = 0,
.gain = 1.0};
- config.channelsConfig[(int)Config::Sensors::ADC_1::OX_TANK_LC_CHANNEL] = {
+ config.channelsConfig[(int)Config::Sensors::ADC_1::ROCKET_LC_CHANNEL] = {
.enabled = true,
.pga = ADS131M08Defs::PGA::PGA_32,
.offset = 0,
@@ -628,19 +631,37 @@ void Sensors::oxVesselWeightCallback()
sdLogger.log(OxVesselWeightData{getOxVesselWeight()});
}
+void Sensors::rocketWeightInit()
+{
+ rocketWeight = std::make_unique<TwoPointAnalogLoadCell>(
+ [this]()
+ {
+ auto sample = getADC1LastSample();
+ return sample.getVoltage(Config::Sensors::ADC_1::ROCKET_LC_CHANNEL);
+ },
+ Config::Sensors::LoadCell::ROCKET_P0_VOLTAGE,
+ Config::Sensors::LoadCell::ROCKET_P0_MASS,
+ Config::Sensors::LoadCell::ROCKET_P1_VOLTAGE,
+ Config::Sensors::LoadCell::ROCKET_P1_MASS);
+}
+
+void Sensors::rocketWeightCallback()
+{
+ sdLogger.log(RocketWeightData{getRocketWeight()});
+}
+
void Sensors::oxTankWeightInit()
{
oxTankWeight = std::make_unique<TwoPointAnalogLoadCell>(
[this]()
{
auto sample = getADC1LastSample();
- return sample.getVoltage(
- Config::Sensors::ADC_1::OX_TANK_LC_CHANNEL);
+ return sample.getVoltage(Config::Sensors::ADC_1::ROCKET_LC_CHANNEL);
},
- Config::Sensors::LoadCell::TANK_P0_VOLTAGE,
- Config::Sensors::LoadCell::TANK_P0_MASS,
- Config::Sensors::LoadCell::TANK_P1_VOLTAGE,
- Config::Sensors::LoadCell::TANK_P1_MASS);
+ Config::Sensors::LoadCell::ROCKET_P0_VOLTAGE,
+ Config::Sensors::LoadCell::ROCKET_P0_MASS,
+ Config::Sensors::LoadCell::ROCKET_P1_VOLTAGE,
+ Config::Sensors::LoadCell::ROCKET_P1_MASS);
}
void Sensors::oxTankWeightCallback()
@@ -739,6 +760,13 @@ bool Sensors::sensorManagerInit()
map.emplace(std::make_pair(oxVesselWeight.get(), info));
}
+ if (rocketWeight)
+ {
+ SensorInfo info("RocketWeight", Config::Sensors::ADS131M08::PERIOD,
+ [this]() { rocketWeightCallback(); });
+ map.emplace(std::make_pair(rocketWeight.get(), info));
+ }
+
if (oxTankWeight)
{
SensorInfo info("OxTankWeight", Config::Sensors::ADS131M08::PERIOD,
diff --git a/src/RIGv2/Sensors/Sensors.h b/src/RIGv2/Sensors/Sensors.h
index e38a2de500a33e30d5b9de308e385f8ce83eec59..f7f9bffe5cf17952d3904eac82fda63387ce42af 100644
--- a/src/RIGv2/Sensors/Sensors.h
+++ b/src/RIGv2/Sensors/Sensors.h
@@ -70,6 +70,7 @@ public:
Boardcore::TemperatureData getOxTankTemperature();
Boardcore::LoadCellData getOxVesselWeight();
+ Boardcore::LoadCellData getRocketWeight();
Boardcore::LoadCellData getOxTankWeight();
Boardcore::CurrentData getUmbilicalCurrent();
@@ -117,6 +118,9 @@ private:
void oxVesselWeightInit();
void oxVesselWeightCallback();
+ void rocketWeightInit();
+ void rocketWeightCallback();
+
void oxTankWeightInit();
void oxTankWeightCallback();
@@ -158,6 +162,7 @@ private:
std::unique_ptr<Boardcore::TrafagPressureSensor> oxTankPressure;
std::unique_ptr<Boardcore::TrafagPressureSensor> n2TankPressure;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxVesselWeight;
+ std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> rocketWeight;
std::unique_ptr<Boardcore::TwoPointAnalogLoadCell> oxTankWeight;
// Digital sensors
diff --git a/src/RIGv2/Sensors/SensorsData.h b/src/RIGv2/Sensors/SensorsData.h
index 71ae7b24162b2a746cc69e30d528be871e0562d8..ad36d2177c828ca97d50d0856eaf92c3f5032216 100644
--- a/src/RIGv2/Sensors/SensorsData.h
+++ b/src/RIGv2/Sensors/SensorsData.h
@@ -69,6 +69,16 @@ struct OxVesselWeightData : Boardcore::LoadCellData
OxVesselWeightData() {}
};
+struct RocketWeightData : Boardcore::LoadCellData
+{
+ explicit RocketWeightData(const Boardcore::LoadCellData& data)
+ : Boardcore::LoadCellData(data)
+ {
+ }
+
+ RocketWeightData() {}
+};
+
struct OxTankWeightData : Boardcore::LoadCellData
{
explicit OxTankWeightData(const Boardcore::LoadCellData& data)