diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7610a2b91bfdfebbaca1893b38a71723d219680c..c78d6dc561c27cf744009a49a29b243e70346e98 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -310,6 +310,11 @@ sbs_target(test-sx1278fsk-gui-rx stm32f429zi_skyward_groundstation_v2)
add_executable(test-sx1278fsk-mavlink src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp)
sbs_target(test-sx1278fsk-mavlink stm32f429zi_skyward_groundstation_v2)
+# sbs_target(test-sx1278fsk-mavlink stm32f767zi_gemini_gs)
+
+add_executable(test-sx1278fsk-pyxis src/tests/radio/sx1278/nokia/test-sx1278-pyxis.cpp)
+sbs_target(test-sx1278fsk-pyxis stm32f429zi_skyward_groundstation_v2)
+# sbs_target(test-sx1278fsk-mavlink stm32f767zi_gemini_gs)
# add_executable(test-mavlinkdriver src/tests/radio/test-mavlinkdriver.cpp)
# sbs_target(test-mavlinkdriver stm32f407vg_stm32f4discovery)
diff --git a/libs/mavlink-skyward-lib b/libs/mavlink-skyward-lib
index 132a3522b41e20947f216c95c67909be54a1d6fe..de06e61ed14af989716122ae5adf4e487e565c14 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit 132a3522b41e20947f216c95c67909be54a1d6fe
+Subproject commit de06e61ed14af989716122ae5adf4e487e565c14
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
index 2ea4330776a25051354534ef0c85aa25fe5b15ef..b866be32f44bf698c9d6d856b17788e190b741e7 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
@@ -20,6 +20,7 @@
* THE SOFTWARE.
*/
+#include <algorithms/NAS/NASState.h>
#include <drivers/interrupt/external_interrupts.h>
#include <drivers/timer/TimestampTimer.h>
#include <radio/SX1278/SX1278Frontends.h>
@@ -78,7 +79,7 @@ using mosi = interfaces::spi4::mosi;
// #define SX1278_IS_EBYTE
// Comment to use SX1278_2
-#define SX1278_1
+// #define SX1278_1
#ifdef SX1278_1
using cs = miosix::radio1::cs;
@@ -195,10 +196,11 @@ void flightTmLoop()
mavlink_message_t msg;
mavlink_rocket_flight_tm_t tm = {0};
- tm.timestamp = TimestampTimer::getTimestamp();
- tm.acc_x = i;
- tm.acc_y = i * 2;
- tm.acc_z = i * 3;
+
+ tm.timestamp = TimestampTimer::getTimestamp();
+ tm.acc_x = i;
+ tm.acc_y = i * 2;
+ tm.acc_z = i * 3;
mavlink_msg_rocket_flight_tm_encode(171, 96, &msg, &tm);
@@ -214,7 +216,7 @@ int main()
initBoard();
SX1278Fsk::Config config = {
- .freq_rf = 434000000,
+ .freq_rf = 460000000,
.freq_dev = 50000,
.bitrate = 48000,
.rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
diff --git a/src/tests/radio/sx1278/nokia/pyxisRocketFlightTm.h b/src/tests/radio/sx1278/nokia/pyxisRocketFlightTm.h
new file mode 100644
index 0000000000000000000000000000000000000000..278e48ad14cd6dca56d55dd96d714b33a547d82b
--- /dev/null
+++ b/src/tests/radio/sx1278/nokia/pyxisRocketFlightTm.h
@@ -0,0 +1,583 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * 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/NASState.h>
+
+Boardcore::NASState nasState[] = {
+ {3328267288, Eigen::Matrix<float, 13, 1>(2.11945152,-1.64222205,3.92296052,0.00494256243,0.0931960493,-3.76419806,-0.305399448,-0.657735407,0.240465507,-0.64520669,-0.000344660919,0.000460060866,-0.00024813876)},
+ {3328507256, Eigen::Matrix<float, 13, 1>(2.12017918,-1.64136136,-0.629730821,0.0815522075,0.103600606,-22.6373901,-0.306723505,-0.660393059,0.230765745,-0.645406008,-0.000437989249,0.000408464199,-0.00028958282)},
+ {3328747256, Eigen::Matrix<float, 13, 1>(2.12024069,-1.64189088,-8.80784416,0.07330136,0.0890337154,-40.8514404,-0.329719275,-0.650075912,0.273568571,-0.627572119,-0.00042529573,0.000367905915,-0.00022154777)},
+ {3328987284, Eigen::Matrix<float, 13, 1>(2.11962605,-1.72437584,-17.437254,0.000937329605,0.0818732977,-56.5116882,-0.403363585,-0.608525991,0.344456285,-0.590206563,-0.000385276944,0.000425291772,-0.00026583761)},
+ {3329227260, Eigen::Matrix<float, 13, 1>(2.11955285,-1.72388411,-30.5830097,0.0228681266,0.134653121,-73.141655,-0.443705618,-0.585737765,0.370539069,-0.568099916,-0.000370101479,0.000439744064,-0.00027978813)},
+ {3329467296, Eigen::Matrix<float, 13, 1>(2.1175189,-1.64225173,-46.1389847,-0.130327523,0.123585954,-88.1040649,-0.447621763,-0.584853232,0.36124444,-0.571912646,-0.000370585709,0.000441284501,-0.00029205344)},
+ {3329707440, Eigen::Matrix<float, 13, 1>(1.67001474,-1.27424586,-67.868309,-2.07406402,3.32442427,-105.556839,-0.414081067,-0.604646683,0.331967711,-0.593916416,-0.000414620241,0.000414297538,-0.00029581115)},
+ {3329947444, Eigen::Matrix<float, 13, 1>(0.316519916,-0.79580462,-92.674202,-8.6724577,2.11721134,-122.251442,-0.358029723,-0.627754986,0.28183499,-0.631116092,-0.000479474111,0.000389916037,-0.0003400233)},
+ {3330187308, Eigen::Matrix<float, 13, 1>(-4.47065067,0.835135996,-114.6791,-14.4206581,4.93814087,-132.393158,-0.277946174,-0.664214551,0.190268427,-0.66735512,-0.000533243467,0.000338762475,-0.00033231297)},
+ {3330427280, Eigen::Matrix<float, 13, 1>(-6.85342932,1.24708343,-148.563965,-8.76774311,1.5844692,-150.402008,-0.168432102,-0.693671703,0.0709466487,-0.696718633,-0.000615161029,0.000290283147,-0.00037161848)},
+ {3330667296, Eigen::Matrix<float, 13, 1>(-8.55906963,2.03702545,-184.587357,-6.84443808,5.75551796,-166.459381,-0.0256936625,-0.69345814,-0.0872244909,-0.714736044,-0.000673880277,0.000229749479,-0.00040349032)},
+ {3330907268, Eigen::Matrix<float, 13, 1>(-9.40481091,3.55143285,-214.956024,-6.35617971,8.48904991,-172.530533,0.131236717,-0.658015907,-0.270138502,-0.690519512,-0.00074904348,0.000195792178,-0.00047090620)},
+ {3331147388, Eigen::Matrix<float, 13, 1>(-11.1229935,5.63034773,-259.486389,-8.17694855,10.6197033,-189.939392,0.298076361,-0.566645265,-0.441846281,-0.628359437,-0.000691892521,0.000106292202,-0.00050040072)},
+ {3331387396, Eigen::Matrix<float, 13, 1>(-15.4488268,9.87028599,-298.719116,-9.68198395,11.4319973,-198.163651,0.461303383,-0.419426203,-0.594289303,-0.508036613,-0.000663795392,5.59650507e-05,-0.00056285184)},
+ {3331627464, Eigen::Matrix<float, 13, 1>(-18.3081779,13.0763292,-348.621063,-11.0180569,13.5647755,-213.088028,0.589229584,-0.219115183,-0.707098782,-0.323741168,-0.000512479106,-5.1317551e-05,-0.00066743919)},
+ {3331867308, Eigen::Matrix<float, 13, 1>(-20.5942364,15.1981564,-390.918579,-20.6625328,14.5040321,-217.191498,0.664443433,0.00703156786,-0.739029288,-0.110910848,-0.000346588291,-0.000175421548,-0.00074128207)},
+ {3332107280, Eigen::Matrix<float, 13, 1>(-24.4060993,17.4551296,-446.639557,-19.7451458,10.5518827,-231.983749,0.673255146,0.229374245,-0.692157149,0.122611739,-0.000198625567,-0.000296596612,-0.00084345566)},
+ {3332347276, Eigen::Matrix<float, 13, 1>(-28.1471424,20.4474907,-500.654602,-13.5422916,13.3999815,-241.659943,0.613236964,0.420737326,-0.574658275,0.341596931,-0.000163893987,-0.000411777495,-0.00093211466)},
+ {3332587312, Eigen::Matrix<float, 13, 1>(-38.1243172,25.1790333,-564.501343,-27.8273239,11.0611649,-256.13736,0.493107706,0.565568447,-0.416962475,0.512951732,-0.00023390376,-0.000489999831,-0.0009778020)},
+ {3332827284, Eigen::Matrix<float, 13, 1>(-44.2764359,29.4757919,-629.656921,-24.2408237,20.7536812,-261.227631,0.350599408,0.650369227,-0.247845888,0.62663573,-0.000332144671,-0.000546256138,-0.0010393676)},
+ {3333067524, Eigen::Matrix<float, 13, 1>(-50.8805275,32.7136192,-714.640198,-36.8158607,16.4983692,-275.78302,0.185462624,0.696184158,-0.0603908561,0.690857589,-0.00045436286,-0.000616249687,-0.0010832258)},
+ {3333307284, Eigen::Matrix<float, 13, 1>(-56.2680321,37.2159119,-790.114868,-25.0792427,21.4723949,-278.504883,-0.00721239485,0.692275703,0.153419539,0.705099165,-0.00054780388,-0.00070487312,-0.0011369828)},
+ {3333547300, Eigen::Matrix<float, 13, 1>(-61.7967567,42.5131836,-859.313354,-26.3689651,24.7101727,-275.280823,-0.213236824,0.615238607,0.378805757,0.657660782,-0.000622428546,-0.000770039158,-0.0012308231)},
+ {3333787316, Eigen::Matrix<float, 13, 1>(-72.9823837,53.5038795,-932.220398,-29.3193493,27.3805542,-275.97757,-0.419349164,0.448399812,0.58546865,0.529443562,-0.000589338364,-0.000847978459,-0.0013142396)},
+ {3334027288, Eigen::Matrix<float, 13, 1>(-78.6657944,59.8451729,-1003.58655,-28.5866318,29.2410278,-275.945038,-0.5833112,0.204560459,0.718960583,0.317803174,-0.000412751368,-0.000981453573,-0.001415560)},
+ {3334267320, Eigen::Matrix<float, 13, 1>(-84.2762299,66.1274185,-1062.94458,-28.6004314,29.993681,-265.15155,-0.665625989,-0.0653283373,0.741243243,0.0568572991,-0.000168315935,-0.00114392047,-0.0015505431)},
+ {3334507368, Eigen::Matrix<float, 13, 1>(-89.7951965,72.0523758,-1127.82483,-28.0519218,29.6538849,-261.018646,-0.659674346,-0.302145123,0.657838643,-0.201956257,6.4726878e-06,-0.00132391043,-0.0016916460)},
+ {3334747296, Eigen::Matrix<float, 13, 1>(-95.3032074,77.9641571,-1192.97949,-27.6170826,29.4191914,-257.658844,-0.566812038,-0.494201124,0.507805228,-0.420265645,-3.2337397e-05,-0.00144722115,-0.0017565810)},
+ {3334987320, Eigen::Matrix<float, 13, 1>(-105.150169,88.9977646,-1256.90161,-26.7481956,29.5411777,-253.898087,-0.410518944,-0.62816292,0.309384257,-0.584095061,-0.000155367452,-0.0015413058,-0.0018080956)},
+ {3335227296, Eigen::Matrix<float, 13, 1>(-110.867393,95.6563416,-1314.98157,-26.471571,29.2186584,-245.743423,-0.220924273,-0.695418358,0.0828195736,-0.678768575,-0.00034237685,-0.00164435408,-0.0018834836)},
+ {3335467328, Eigen::Matrix<float, 13, 1>(-116.467056,101.756813,-1377.14783,-26.2765141,29.1500549,-242.94722,-0.00840543956,-0.693374932,-0.156517461,-0.703322709,-0.000466406462,-0.001743417,-0.0019494228)},
+ {3335707300, Eigen::Matrix<float, 13, 1>(-121.993172,107.762215,-1443.59619,-26.30686,28.7480717,-245.257629,0.205888316,-0.613978446,-0.389789611,-0.654755414,-0.000509269419,-0.00184056582,-0.0020246263)},
+ {3335947312, Eigen::Matrix<float, 13, 1>(-127.503258,113.835632,-1498.35925,-26.0412827,28.2747326,-237.156616,0.400434196,-0.459141016,-0.589065909,-0.530889213,-0.000441998389,-0.00196785992,-0.0021370132)},
+ {3336187544, Eigen::Matrix<float, 13, 1>(-136.997818,124.412346,-1549.83594,-26.0033417,27.3143654,-226.93074,0.559800804,-0.244026393,-0.71028614,-0.350096881,-0.000239977642,-0.00213858834,-0.0022004358)},
+ {3336427308, Eigen::Matrix<float, 13, 1>(-142.646729,130.61322,-1605.18762,-25.1150856,26.4076786,-222.010193,0.649414122,-0.0132027222,-0.748185515,-0.135297492,-4.80352173e-05,-0.00228530983,-0.002294467)},
+ {3336667332, Eigen::Matrix<float, 13, 1>(-147.819565,135.96286,-1663.53625,-24.64884,25.9316559,-221.292221,0.674358964,0.199886501,-0.706027687,0.0825244859,0.00011479875,-0.00242841127,-0.0023995037)},
+ {3336907304, Eigen::Matrix<float, 13, 1>(-152.49646,141.564804,-1715.64014,-24.6429596,26.2467651,-215.772324,0.635845125,0.378549963,-0.611246884,0.280674607,0.000179152339,-0.00252857222,-0.0024867574)},
+ {3337147308, Eigen::Matrix<float, 13, 1>(-157.576797,147.642212,-1759.99719,-23.9453335,26.1455727,-203.882202,0.559404731,0.511237681,-0.480798185,0.441061825,0.000125035062,-0.00264214259,-0.0025616777)},
+ {3337387560, Eigen::Matrix<float, 13, 1>(-165.795425,158.154312,-1810.62317,-23.5644054,25.6927967,-199.626938,0.439635307,0.618299544,-0.322575331,0.566013873,1.55111666e-05,-0.002722573,-0.0025877209)},
+ {3337627352, Eigen::Matrix<float, 13, 1>(-171.453247,164.351364,-1862.51453,-23.472105,25.4140987,-198.015259,0.302564651,0.680237651,-0.15584816,0.649186313,-0.000150202075,-0.00281971949,-0.0026405553)},
+ {3337867344, Eigen::Matrix<float, 13, 1>(-176.207947,169.868179,-1909.16821,-23.3077316,25.1703453,-192.30864,0.154697284,0.702730119,0.0129152518,0.694314361,-0.000253761769,-0.00288495817,-0.0026829405)},
+ {3338107312, Eigen::Matrix<float, 13, 1>(-180.88121,175.955368,-1951.71436,-23.0947495,24.8620834,-184.147995,-0.000655752199,0.68960768,0.184834585,0.700197816,-0.000337089121,-0.00296655414,-0.0027315518)},
+ {3338347312, Eigen::Matrix<float, 13, 1>(-185.543045,181.78334,-1994.52771,-22.8197155,24.4931259,-177.612839,-0.140329242,0.638807893,0.3397865,0.675853133,-0.000345964072,-0.00304047484,-0.0027714113)},
+ {3338587348, Eigen::Matrix<float, 13, 1>(-193.824158,191.294968,-2040.05334,-22.4829483,23.3194752,-175.017548,-0.274553031,0.566318095,0.470324636,0.618626952,-0.000283411035,-0.00314978883,-0.0028119054)},
+ {3338827316, Eigen::Matrix<float, 13, 1>(-198.583099,197.009018,-2083.83594,-21.7495461,22.5816307,-171.8069,-0.386725545,0.467172176,0.58211565,0.541604102,-0.000209547448,-0.00323979673,-0.0028684989)},
+ {3339067432, Eigen::Matrix<float, 13, 1>(-203.320084,202.107422,-2123.6001,-21.6735039,22.3493347,-166.166367,-0.485436976,0.351946682,0.664329648,0.446262896,-0.000113021837,-0.00332269468,-0.0029088063)},
+ {3339307500, Eigen::Matrix<float, 13, 1>(-207.567825,207.126114,-2160.83789,-21.3353767,22.0291023,-159.357758,-0.561881959,0.231697068,0.714403391,0.346746266,2.65601921e-06,-0.0034179124,-0.0029302150)},
+ {3339547320, Eigen::Matrix<float, 13, 1>(-211.804016,211.969406,-2199.2312,-20.9413548,21.7385654,-154.711853,-0.613553524,0.12190973,0.740416408,0.245913908,0.000105950981,-0.00349590415,-0.0029724617)},
+ {3339787356, Eigen::Matrix<float, 13, 1>(-218.874435,220.960632,-2235.5918,-20.4744625,21.2520332,-149.606659,-0.656411886,0.00765804294,0.741260052,0.139994159,0.00019130783,-0.00358997425,-0.0029868648)},
+ {3340027324, Eigen::Matrix<float, 13, 1>(-223.575027,225.990936,-2270.25781,-20.15308,20.9686947,-144.116776,-0.678263545,-0.102245882,0.727151692,0.0274755321,0.000278696127,-0.00366408704,-0.0030333851)},
+ {3340267444, Eigen::Matrix<float, 13, 1>(-227.888306,230.828796,-2306.45044,-19.9347801,20.6038628,-141.421082,-0.682008028,-0.199589789,0.700071573,-0.0702056885,0.000297765568,-0.00372289144,-0.0030410161)},
+ {3340507408, Eigen::Matrix<float, 13, 1>(-232.135345,235.107773,-2339.09106,-19.6423626,20.2753506,-136.357254,-0.669971228,-0.293956965,0.660430074,-0.168997049,0.000329370727,-0.00377608254,-0.0030745863)},
+ {3340747512, Eigen::Matrix<float, 13, 1>(-235.951309,239.214264,-2372.87646,-19.5691719,20.1894398,-133.692413,-0.644108236,-0.384427816,0.608305812,-0.259430021,0.000310635602,-0.00382994465,-0.0030839589)},
+ {3340987364, Eigen::Matrix<float, 13, 1>(-243.023697,246.752136,-2402.5,-19.2881069,19.6016598,-128.020065,-0.607266843,-0.461897939,0.541590095,-0.352927059,0.000295017089,-0.00389182102,-0.0031212766)},
+ {3341227332, Eigen::Matrix<float, 13, 1>(-247.311188,251.272034,-2434.42407,-19.07827,19.2729664,-125.690453,-0.560636103,-0.528933108,0.466905981,-0.433492571,0.000250489073,-0.00392721733,-0.0031220363)},
+ {3341467364, Eigen::Matrix<float, 13, 1>(-251.195953,255.284286,-2463.11182,-19.1103554,19.0788021,-121.114586,-0.516591787,-0.577844262,0.397844553,-0.49086532,0.000181251497,-0.00398315489,-0.0031467103)},
+ {3341707336, Eigen::Matrix<float, 13, 1>(-255.019028,259.150604,-2489.98486,-18.9169464,18.7554035,-115.896935,-0.462806493,-0.618910432,0.335356146,-0.538791656,0.000143901067,-0.0040084538,-0.0031561474)},
+ {3341947336, Eigen::Matrix<float, 13, 1>(-258.409851,262.925232,-2517.99072,-18.7267475,18.4003372,-112.814926,-0.413030088,-0.650549352,0.267891288,-0.578295767,9.48008892e-05,-0.00404426502,-0.0031386893)},
+ {3342187408, Eigen::Matrix<float, 13, 1>(-264.272736,269.774536,-2545.37622,-18.6010056,18.0992374,-110.075203,-0.369187623,-0.670405328,0.203860015,-0.610490203,4.5435987e-05,-0.00406996766,-0.0031615314)},
+ {3342427340, Eigen::Matrix<float, 13, 1>(-268.085846,273.52356,-2567.54834,-18.5023537,17.727808,-103.080338,-0.313504964,-0.693882942,0.137231335,-0.633568227,1.63982568e-05,-0.00409542304,-0.0031588114)},
+ {3342667380, Eigen::Matrix<float, 13, 1>(-271.958618,277.027466,-2592.96191,-18.2693005,17.3973122,-100.373695,-0.26252079,-0.707338095,0.0660669729,-0.652986109,-4.09075074e-05,-0.00413289852,-0.003174980)},
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+ {3356347420, Eigen::Matrix<float, 13, 1>(-471.536133,418.337524,-2911.02563,-9.43105507,1.09089303,27.048439,-0.587377846,0.35501942,0.694540441,-0.215782553,0.00203026598,-0.00374653726,-0.0043420810)},
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+ {3357307612, Eigen::Matrix<float, 13, 1>(-481.72757,419.737915,-2878.00708,-10.8368816,1.33241832,33.1698303,0.603030562,-0.11026258,-0.78575623,-0.0823614746,0.00211203517,-0.00277333218,-0.0050438363)},
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+ {3357787460, Eigen::Matrix<float, 13, 1>(-487.768921,420.670776,-2877.5188,-10.014389,1.89993525,19.4223213,0.200193137,-0.413772434,-0.217886031,-0.86095345,0.00157047191,-0.00232076994,-0.0049376720)},
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+ {3358507436, Eigen::Matrix<float, 13, 1>(-493.137909,421.545166,-2851.03564,-7.87740278,1.37890851,31.5845871,-0.194968134,-0.319315553,0.496635437,-0.783184707,0.00186377962,-0.00178003893,-0.004968531)},
+ {3358747448, Eigen::Matrix<float, 13, 1>(-494.404846,421.695068,-2844.18726,-7.51390219,0.208711252,31.476284,-0.444404751,-0.0256186947,0.694483161,-0.565279841,0.00246921368,-0.00170592626,-0.0049403267)},
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+ {3359467484, Eigen::Matrix<float, 13, 1>(-501.202972,421.687286,-2833.37329,-9.33061218,-0.540112853,23.8249416,-0.210211813,0.428337365,0.470330417,0.742379606,0.00206327043,-0.0010043073,-0.0047717853)},
+ {3359707440, Eigen::Matrix<float, 13, 1>(-503.339874,421.694244,-2813.3772,-10.1809864,0.0461142547,37.0228577,-0.306233108,0.331043661,0.301884413,0.839938819,0.00177266356,-0.000662730075,-0.0045747244)},
+ {3359947444, Eigen::Matrix<float, 13, 1>(-505.022949,421.699829,-2809.98779,-9.09322548,0.571258426,33.2638893,-0.344258904,0.360269874,0.101623349,0.861025035,0.00216949149,-0.00059167872,-0.0044043497)},
+ {3360187692, Eigen::Matrix<float, 13, 1>(-508.168182,422.090057,-2790.74365,-8.98977757,1.01858878,44.2981453,0.298501372,0.384584874,-0.149261013,0.860646605,0.00285640685,-0.000569583965,-0.004373297)},
+ {3360427488, Eigen::Matrix<float, 13, 1>(-510.059448,422.280701,-2794.65234,-7.76630068,1.24372554,32.2192383,0.691943169,0.359211296,-0.251772195,0.573404551,0.00289534684,-0.000558273285,-0.0044061201)},
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+ {3376027540, Eigen::Matrix<float, 13, 1>(-625.383118,369.603821,-2341.74609,-9.01186466,-3.82100129,26.0419178,-0.938054025,0.0336427391,0.325826913,-0.112958997,0.0101283556,0.00291136,-0.007963711)},
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+ {3376507540, Eigen::Matrix<float, 13, 1>(-628.797424,368.631744,-2312.70874,-7.81171322,-1.40266597,39.6804657,-0.721008837,0.191104561,0.664384067,-0.0471076369,0.00994224381,0.00312617631,-0.0079321032)},
+ {3376747544, Eigen::Matrix<float, 13, 1>(-630.051147,368.201569,-2318.31494,-6.35557747,-2.94208741,26.2846813,-0.611963272,0.51399368,0.585944057,0.134093657,0.0100690136,0.00341963582,-0.008043218)},
+ {3376987572, Eigen::Matrix<float, 13, 1>(-632.780273,366.67453,-2317.37402,-7.11670732,-4.25643301,21.1909275,-0.336915195,0.82723105,0.3170636,0.318822473,0.0101295067,0.00353750051,-0.0081595014)},
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+ {3377467620, Eigen::Matrix<float, 13, 1>(-636.013306,365.164154,-2305.79785,-8.91310883,-3.05825043,21.441597,0.494659513,0.641781867,0.0968857557,0.577962935,0.0105453245,0.00398985203,-0.0084034884)},
+ {3377707548, Eigen::Matrix<float, 13, 1>(-638.13739,364.59729,-2277.59814,-8.90479755,-2.32230926,41.401783,0.735625446,0.510883331,-0.330636442,0.297545075,0.0109631121,0.00405084062,-0.0085353432)},
+ {3377947548, Eigen::Matrix<float, 13, 1>(-639.826843,364.188995,-2272.32056,-8.42393398,-2.10482025,37.662899,0.876470149,0.16828239,-0.428720355,0.140285447,0.0111978324,0.00418561744,-0.0085046943)},
+ {3378187580, Eigen::Matrix<float, 13, 1>(-642.601685,363.4935,-2278.93286,-7.75093174,-0.961485505,23.0782185,0.865814447,-0.361373603,-0.279012918,-0.204758853,0.0119682308,0.00420985743,-0.0086342897)},
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+ {3396427660, Eigen::Matrix<float, 13, 1>(-728.357666,319.110657,-1839.97913,-3.23025227,-2.81180143,28.5488167,-0.272183388,-0.453636885,0.632741034,-0.565480888,0.0509446859,0.0100597106,-0.021309018)},
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+ {3448507968, Eigen::Matrix<float, 13, 1>(-781.340088,373.366699,-525.174622,-1.84368205,2.47870684,29.2946148,-0.179810315,-0.640119195,0.489294201,-0.564364135,0.0805521831,0.023778066,-0.03102019)},
+ {3448747972, Eigen::Matrix<float, 13, 1>(-781.337952,373.770447,-512.853882,-1.56350303,1.91668022,36.3473511,0.0977872834,-0.49089691,0.855914891,-0.129875764,0.0804246515,0.0240338817,-0.030950542)},
+ {3448988220, Eigen::Matrix<float, 13, 1>(-782.132385,374.45285,-522.983948,-2.50784874,2.44503736,19.3999958,0.422600389,0.101844467,0.863280594,0.256482452,0.0806981102,0.0244097486,-0.030731685)},
+ {3449228160, Eigen::Matrix<float, 13, 1>(-783.035828,375.003479,-508.178589,-3.35708141,2.80765796,28.8513718,0.492370516,0.489308685,0.496316761,0.521361649,0.0810599849,0.0245259833,-0.030899159)},
+ {3449468008, Eigen::Matrix<float, 13, 1>(-783.468506,375.590942,-502.558167,-2.6091342,3.14981937,30.1876564,0.382490098,0.658689082,-0.0652245656,0.644651711,0.0816323608,0.0246523563,-0.031017536)},
+ {3449707976, Eigen::Matrix<float, 13, 1>(-783.897522,376.339142,-499.153473,-2.90011358,3.80079389,29.2286682,0.0282854456,0.659129977,-0.519587755,0.542932928,0.0817236304,0.0248730164,-0.03099006)},
+ {3449947980, Eigen::Matrix<float, 13, 1>(-784.312439,376.993713,-495.681549,-2.1790185,3.56043077,27.3341713,-0.20503749,0.348398775,-0.889270723,0.213952348,0.0818525553,0.0251827426,-0.030686199)},
+ {3450188012, Eigen::Matrix<float, 13, 1>(-785.461365,378.058472,-488.736389,-2.29918957,2.19208193,28.8326626,-0.409525663,-0.0500707328,-0.887930691,-0.203373387,0.0819196403,0.0255820043,-0.030579436)},
+ {3450427980, Eigen::Matrix<float, 13, 1>(-785.589783,378.525208,-491.970459,-2.70881915,1.81645977,20.917202,-0.500200748,-0.465788484,-0.561620355,-0.466286361,0.0825948343,0.0256919917,-0.030797762)},
+ {3450668236, Eigen::Matrix<float, 13, 1>(-786.012634,378.951141,-486.49585,-2.66008925,2.54710221,22.8781242,-0.312688261,-0.670861185,-0.0673095733,-0.669059634,0.0830436125,0.0258542132,-0.030961081)},
+ {3450908060, Eigen::Matrix<float, 13, 1>(-786.858704,379.447205,-475.364014,-2.40630627,2.74886346,30.0167961,-0.0848803371,-0.593384206,0.601311624,-0.528313279,0.083212845,0.0261268839,-0.030891215)},
+ {3451147996, Eigen::Matrix<float, 13, 1>(-787.274353,379.933258,-465.192017,-1.71358168,2.14339566,33.3756218,0.229553282,-0.137784883,0.945556998,-0.185047716,0.0832247585,0.0265525598,-0.030728833)},
+ {3451388020, Eigen::Matrix<float, 13, 1>(-788.069702,380.617523,-460.941772,-2.56982231,1.35308564,31.4549847,0.383350521,-0.039403148,0.855624914,0.345537037,0.0829976946,0.0270471741,-0.030633080)},
+ {3451627988, Eigen::Matrix<float, 13, 1>(-788.54718,380.907166,-462.147156,-2.53947687,1.62459683,24.3750038,0.414352089,0.383553118,0.634385884,0.527971625,0.0838800892,0.0273300819,-0.030765591)},
+ {3451868020, Eigen::Matrix<float, 13, 1>(-788.980957,381.242493,-448.069885,-2.70585036,1.80606699,33.4697456,0.536621034,0.724623203,0.105384976,0.419348508,0.0846632197,0.0273614693,-0.030890248)},
+ {3452108172, Eigen::Matrix<float, 13, 1>(-789.825623,381.656799,-445.222839,-2.36410856,2.03769732,30.2020168,0.406695843,0.72124064,-0.368147522,0.422939569,0.0847829208,0.0274577308,-0.030823469)},
+ {3452348032, Eigen::Matrix<float, 13, 1>(-790.237915,381.983002,-447.918976,-1.40988958,1.87953663,22.9405613,0.0475592427,0.66413784,-0.595660746,0.449274361,0.0847739354,0.027663365,-0.030726570)},
+ {3452588228, Eigen::Matrix<float, 13, 1>(-790.612122,382.588135,-439.226044,-2.55893707,1.71726096,26.629858,-0.243451118,0.634224653,-0.703866184,0.207516655,0.0848750696,0.0278304964,-0.03040266)},
+ {3452827996, Eigen::Matrix<float, 13, 1>(-791.095276,382.878632,-430.625092,-2.89045072,1.64110768,30.3615379,-0.255744547,0.113317542,-0.960080147,-7.65268996e-05,0.0850969553,0.0280490909,-0.030168201)},
+ {3453068024, Eigen::Matrix<float, 13, 1>(-791.944641,383.297424,-422.532867,-2.49296069,1.9050132,31.5448227,-0.263927281,-0.395709395,-0.788728714,-0.38944006,0.0855032727,0.0281766392,-0.030165992)},
+ {3453307996, Eigen::Matrix<float, 13, 1>(-792.37793,383.713684,-430.47583,-3.10370111,2.32399035,19.8941364,-0.360951185,-0.703355134,-0.199154437,-0.57908833,0.0861942396,0.0283743888,-0.03026034)},
+ {3453548188, Eigen::Matrix<float, 13, 1>(-792.793762,384.128448,-416.906769,-2.39541316,2.70580125,30.2962704,-0.28734529,-0.687871337,0.298161745,-0.596125305,0.0865140185,0.0286135525,-0.030284006)},
+ {3453788252, Eigen::Matrix<float, 13, 1>(-793.577087,385.048096,-405.179504,-1.98710096,1.8980695,37.1747551,0.00226866431,-0.851301193,0.310354054,-0.423038512,0.0865302756,0.0286877826,-0.030226476)},
+ {3454028188, Eigen::Matrix<float, 13, 1>(-794.048401,385.41571,-398.925385,-1.66266334,0.97322464,35.5243683,-0.0202538315,-0.609759271,0.779382467,-0.142641082,0.0867347419,0.0285249222,-0.02997560)},
+ {3454268040, Eigen::Matrix<float, 13, 1>(-794.488831,385.587433,-388.653107,-2.42171359,1.1680392,37.9090652,-0.0623711124,0.0997578353,0.988629699,-0.0936456248,0.0864609182,0.028896505,-0.029955899)},
+ {3454508004, Eigen::Matrix<float, 13, 1>(-794.923645,385.837128,-383.129364,-3.21859837,1.33122146,36.8900108,-0.14051193,0.292266011,0.93802911,0.122222595,0.0862368867,0.0288638584,-0.030086845)},
+ {3454748008, Eigen::Matrix<float, 13, 1>(-795.77301,386.171143,-377.877777,-3.3659246,1.72872186,35.9571381,-0.0224711578,0.253513157,0.912529469,0.320181489,0.0863120854,0.0288705416,-0.03004139)},
+ {3454988040, Eigen::Matrix<float, 13, 1>(-796.96698,386.703003,-384.251526,-1.50835919,0.934366047,23.4809914,0.0647352487,0.347879738,0.809576511,0.468374848,0.0864743069,0.0290681049,-0.029965994)},
+ {3455228012, Eigen::Matrix<float, 13, 1>(-797.013733,386.892731,-366.608459,-0.777166724,0.597729564,36.5376587,0.1772715,0.860653877,0.359193444,0.314372212,0.0869577602,0.0292899273,-0.029921693)},
+ {3455468144, Eigen::Matrix<float, 13, 1>(-797.029297,387.057953,-361.944885,-2.08609915,0.475986779,34.8561134,-0.0043547051,0.974026322,-0.193778738,0.117062874,0.086904332,0.0293016285,-0.029866559)},
+ {3455708200, Eigen::Matrix<float, 13, 1>(-797.454468,387.048767,-363.706635,-2.22626209,-0.232700676,25.9738121,-0.330278665,0.819278359,-0.42170614,0.204604462,0.0863948688,0.0293652024,-0.02937029)},
+ {3455948012, Eigen::Matrix<float, 13, 1>(-797.873291,386.967957,-370.002014,-1.79780149,-0.193766683,16.5280838,-0.191525698,0.838181019,-0.227591574,0.45713523,0.0858833492,0.0296182483,-0.029022557)},
+ {3456188048, Eigen::Matrix<float, 13, 1>(-798.662964,387.037994,-344.391327,-2.37798643,1.06517982,38.3138084,0.139570192,0.89227289,-0.0707743093,0.423509628,0.0857971162,0.0297540482,-0.029232004)},
+ {3456428020, Eigen::Matrix<float, 13, 1>(-799.142395,387.484283,-342.985107,-2.18851662,2.50470829,33.1828766,0.103321426,0.772668064,0.545973599,0.306955516,0.0856407657,0.0294994134,-0.029497895)},
+ {3456668140, Eigen::Matrix<float, 13, 1>(-799.145996,387.984924,-342.821869,-1.81071508,2.40930295,27.7406788,0.0862035602,0.243721396,0.862978339,0.434093624,0.0852466896,0.0294652693,-0.029664391)},
+ {3456908100, Eigen::Matrix<float, 13, 1>(-799.571655,388.480652,-324.775635,-2.00350285,2.54050875,39.192791,0.0124037527,0.055581931,0.926243722,0.37259832,0.0853806287,0.0295915958,-0.029593698)},
+ {3457148204, Eigen::Matrix<float, 13, 1>(-800.437866,388.967804,-313.772247,-3.87123632,2.34557915,41.7352448,-0.16991654,0.0191419274,0.984606683,-0.0362163931,0.0851689801,0.0294755772,-0.029770391)},
+ {3457388056, Eigen::Matrix<float, 13, 1>(-801.205505,389.420929,-311.812744,-1.60253227,1.05749261,33.5537262,-0.122429378,0.0501638241,0.983708918,0.121702112,0.085048601,0.0294500794,-0.029845852)},
+ {3457628024, Eigen::Matrix<float, 13, 1>(-801.255127,389.694763,-310.084717,-1.0265311,1.63359725,29.2088013,-0.18847096,-0.176164374,0.955243945,-0.144754454,0.084936671,0.0293189585,-0.029988262)},
+ {3457868060, Eigen::Matrix<float, 13, 1>(-801.672974,390.119934,-308.649841,-0.635489106,2.39436293,25.1226063,-0.18149294,0.00852076244,0.977958858,0.102879792,0.0849126577,0.0293130744,-0.030010346)},
+ {3458108028, Eigen::Matrix<float, 13, 1>(-801.680664,390.707184,-306.149597,-1.13515067,3.31804252,23.0619507,-0.22267805,-0.0460947044,0.972594559,0.048472438,0.0849490166,0.029374782,-0.029940333)},
+ {3458348068, Eigen::Matrix<float, 13, 1>(-801.684692,391.461029,-304.836853,-1.46197844,4.51854944,20.6605797,-0.270919293,-0.0501879528,0.95074451,-0.142016977,0.0849099532,0.0293022469,-0.030006626)},
+ {3458588100, Eigen::Matrix<float, 13, 1>(-802.472107,392.454865,-303.74469,-1.47067881,0.435397863,18.6681614,-0.228013575,0.18053104,0.956670582,-0.0141335279,0.0848690122,0.0292910114,-0.030061012)},
+ {3458828032, Eigen::Matrix<float, 13, 1>(-802.960571,392.654266,-302.138977,-2.62637472,1.79492986,17.5100574,-0.134034663,0.315738827,0.938579559,0.0375788212,0.0849331245,0.0293998886,-0.030054358)},
+ {3459068068, Eigen::Matrix<float, 13, 1>(-803.400085,392.891602,-300.249786,-3.17410803,0.660220265,17.1352253,-0.161390424,0.250724703,0.946423709,-0.123985894,0.0848811492,0.0293781646,-0.030072091)},
+ {3459308032, Eigen::Matrix<float, 13, 1>(-804.254517,393.059631,-298.617615,-3.60706902,0.940366268,17.1334934,-0.127308056,0.334221631,0.917376637,-0.174667314,0.0847417563,0.0293432772,-0.030130103)},
+ {3459548036, Eigen::Matrix<float, 13, 1>(-805.10791,393.226379,-297.230133,-4.02451754,1.10669684,16.8567047,-0.00333990296,0.539889097,0.83756125,-0.0836645812,0.0848929659,0.0293779653,-0.030108921)},
+ {3459788284, Eigen::Matrix<float, 13, 1>(-806.262024,393.525635,-296.003754,-4.56408739,0.636979699,16.4905357,0.0239761006,0.679732978,0.72714746,-0.0929778963,0.0851116627,0.0294231307,-0.030157234)},
+ {3460028088, Eigen::Matrix<float, 13, 1>(-807.635681,393.715271,-294.576721,-4.9614439,1.14598656,16.5573196,-0.0870044082,0.809163392,0.568789959,-0.119007558,0.0851847604,0.0294286571,-0.03018009)},
+ {3460268292, Eigen::Matrix<float, 13, 1>(-808.507812,393.969452,-293.050293,-4.90249729,1.51285374,16.7575169,-0.0960235223,0.876006782,0.463986397,-0.0900457799,0.0849551409,0.0294028111,-0.030123788)},
+ {3460508040, Eigen::Matrix<float, 13, 1>(-809.780212,394.301575,-291.524933,-4.79257965,1.73074198,16.6693249,0.0125386454,0.895005405,0.444801688,-0.0309772901,0.0848882645,0.0294675324,-0.030035411)},
+ {3460748044, Eigen::Matrix<float, 13, 1>(-810.204773,394.713043,-289.961426,-4.79535675,1.79253948,16.3159943,0.0203452222,0.963316619,0.267156541,0.0153162628,0.0850789249,0.0295289811,-0.030061844)},
+ {3460988076, Eigen::Matrix<float, 13, 1>(-812.189514,395.398102,-289.225983,-3.7282908,2.40764403,15.3518143,-0.0457226522,0.993390799,-0.0598701015,0.0866011754,0.0850246698,0.0296005495,-0.030030703)},
+ {3461228048, Eigen::Matrix<float, 13, 1>(-812.719971,395.943298,-287.302582,-3.16827202,2.51647806,15.4832935,-0.0498372763,0.975343823,-0.176986292,0.122051753,0.0846501589,0.0297802724,-0.029858823)}
+};
\ No newline at end of file
diff --git a/src/tests/radio/sx1278/nokia/test-sx1278-pyxis.cpp b/src/tests/radio/sx1278/nokia/test-sx1278-pyxis.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac3315a7a2399b2937f742aa491e87440b0896
--- /dev/null
+++ b/src/tests/radio/sx1278/nokia/test-sx1278-pyxis.cpp
@@ -0,0 +1,284 @@
+/* Copyright (c) 2018 Skyward Experimental Rocketry
+ * Authors: Alvise de'Faveri Tron, Nuno Barcellos, Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <algorithms/NAS/NASState.h>
+#include <drivers/interrupt/external_interrupts.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <radio/SX1278/SX1278Frontends.h>
+#include <radio/SX1278/SX1278Fsk.h>
+#include <utils/collections/CircularBuffer.h>
+
+#include <thread>
+
+#include "../fsk/common.h"
+#include "pyxisRocketFlightTm.h"
+
+// Ignore warnings, as we don't want to change third party generated files to
+// fix them
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-align"
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#include <mavlink_lib/gemini/mavlink.h>
+#pragma GCC diagnostic pop
+
+#include <radio/MavlinkDriver/MavlinkDriver.h>
+
+using namespace Boardcore;
+using namespace miosix;
+
+constexpr uint32_t RADIO_PKT_LENGTH = SX1278Fsk::MTU;
+constexpr uint32_t RADIO_OUT_QUEUE_SIZE = 10;
+constexpr uint32_t RADIO_MAV_MSG_LENGTH = MAVLINK_MAX_DIALECT_PAYLOAD_SIZE;
+constexpr size_t MAV_OUT_BUFFER_MAX_AGE = 10;
+constexpr uint32_t FLIGHT_TM_PERIOD = 250;
+
+// Mavlink out buffer with 10 packets, 256 bytes each.
+using Mav =
+ MavlinkDriver<RADIO_PKT_LENGTH, RADIO_OUT_QUEUE_SIZE, RADIO_MAV_MSG_LENGTH>;
+
+#if defined _BOARD_STM32F429ZI_SKYWARD_GS_V2
+#include "interfaces-impl/hwmapping.h"
+
+using cs = peripherals::ra01::pc13::cs;
+using dio0 = peripherals::ra01::pc13::dio0;
+using dio1 = peripherals::ra01::pc13::dio1;
+using dio3 = peripherals::ra01::pc13::dio3;
+
+using sck = interfaces::spi4::sck;
+using miso = interfaces::spi4::miso;
+using mosi = interfaces::spi4::mosi;
+
+#define SX1278_SPI SPI4
+
+#define SX1278_IRQ_DIO0 EXTI6_IRQHandlerImpl
+#define SX1278_IRQ_DIO1 EXTI4_IRQHandlerImpl
+#define SX1278_IRQ_DIO3 EXTI11_IRQHandlerImpl
+
+#elif defined _BOARD_STM32F767ZI_GEMINI_GS
+#include "interfaces-impl/hwmapping.h"
+
+#define SX1278_IS_SKYWARD433
+// #define SX1278_IS_EBYTE
+
+// Comment to use SX1278_2
+// #define SX1278_1
+
+#ifdef SX1278_1
+using cs = miosix::radio1::cs;
+using dio0 = miosix::radio1::dio0;
+using dio1 = miosix::radio1::dio1;
+using dio3 = miosix::radio1::dio3;
+
+using sck = miosix::radio1::spi::sck;
+using miso = miosix::radio1::spi::miso;
+using mosi = miosix::radio1::spi::mosi;
+
+using txen = miosix::radio1::txen;
+using rxen = miosix::radio1::rxen;
+
+#define SX1278_NRST
+using rst = miosix::radio1::nrst;
+
+#define SX1278_SPI MIOSIX_RADIO1_SPI
+
+#define SX1278_IRQ_DIO0 MIOSIX_RADIO1_DIO0_IRQ
+#define SX1278_IRQ_DIO1 MIOSIX_RADIO1_DIO1_IRQ
+#define SX1278_IRQ_DIO3 MIOSIX_RADIO1_DIO3_IRQ
+#else
+using cs = miosix::radio2::cs;
+using dio0 = miosix::radio2::dio0;
+using dio1 = miosix::radio2::dio1;
+using dio3 = miosix::radio2::dio3;
+
+using sck = miosix::radio2::spi::sck;
+using miso = miosix::radio2::spi::miso;
+using mosi = miosix::radio2::spi::mosi;
+
+using txen = miosix::radio2::txen;
+using rxen = miosix::radio2::rxen;
+
+#define SX1278_NRST
+using rst = miosix::radio2::nrst;
+
+#define SX1278_SPI MIOSIX_RADIO2_SPI
+
+#define SX1278_IRQ_DIO0 MIOSIX_RADIO2_DIO0_IRQ
+#define SX1278_IRQ_DIO1 MIOSIX_RADIO2_DIO1_IRQ
+#define SX1278_IRQ_DIO3 MIOSIX_RADIO2_DIO3_IRQ
+#endif
+
+#else
+#error "Target not supported"
+#endif
+
+SX1278Fsk* sx1278 = nullptr;
+
+void __attribute__((used)) SX1278_IRQ_DIO0()
+{
+ if (sx1278)
+ sx1278->handleDioIRQ();
+}
+
+void __attribute__((used)) SX1278_IRQ_DIO1()
+{
+ if (sx1278)
+ sx1278->handleDioIRQ();
+}
+
+void __attribute__((used)) SX1278_IRQ_DIO3()
+{
+ if (sx1278)
+ sx1278->handleDioIRQ();
+}
+
+void initBoard() {}
+
+struct PendingAck
+{
+ int msgid;
+ int seq;
+};
+
+bool launched = false;
+CircularBuffer<PendingAck, 10> pending_acks;
+FastMutex mutex;
+
+Mav* channel;
+
+void onReceive(Mav* channel, const mavlink_message_t& msg)
+{
+ if (msg.msgid != MAVLINK_MSG_ID_ACK_TM)
+ {
+ Lock<FastMutex> l(mutex);
+ pending_acks.put({msg.msgid, msg.seq});
+ }
+
+ // If command is force launch, trigger the sending of launch telemetry
+ if (msg.msgid == MAVLINK_MSG_ID_COMMAND_TC)
+ {
+ MavCommandList commandId = static_cast<MavCommandList>(
+ mavlink_msg_command_tc_get_command_id(&msg));
+
+ if (commandId == MAV_CMD_FORCE_LAUNCH)
+ {
+ launched = true;
+ }
+ }
+}
+
+void flightTmLoop()
+{
+ int i = 0;
+
+ while (1)
+ {
+ long long start = miosix::getTick();
+
+ {
+ Lock<FastMutex> l(mutex);
+ while (!pending_acks.isEmpty())
+ {
+ auto ack = pending_acks.pop();
+
+ // Prepare ack message
+ mavlink_message_t msg;
+ mavlink_msg_ack_tm_pack(171, 96, &msg, ack.msgid, ack.seq);
+
+ // Send the ack back to the sender
+ channel->enqueueMsg(msg);
+ }
+ }
+
+ mavlink_message_t msg;
+ mavlink_rocket_flight_tm_t tm = {0};
+
+ tm.timestamp = nasState[i].timestamp;
+ tm.nas_n = nasState[i].n;
+ tm.nas_e = nasState[i].e;
+ tm.nas_d = nasState[i].d;
+ tm.nas_vn = nasState[i].vn;
+ tm.nas_ve = nasState[i].ve;
+ tm.nas_vd = nasState[i].vd;
+ tm.nas_qx = nasState[i].qx;
+ tm.nas_qy = nasState[i].qy;
+ tm.nas_qz = nasState[i].qz;
+ tm.nas_qw = nasState[i].qw;
+ tm.nas_bias_x = nasState[i].bx;
+ tm.nas_bias_y = nasState[i].by;
+ tm.nas_bias_z = nasState[i].bz;
+
+ mavlink_msg_rocket_flight_tm_encode(171, 96, &msg, &tm);
+
+ channel->enqueueMsg(msg);
+
+ Thread::sleepUntil(start + FLIGHT_TM_PERIOD);
+ if (launched && i < sizeof(nasState) / sizeof(nasState[0]))
+ {
+ i++;
+ }
+ }
+}
+
+int main()
+{
+ initBoard();
+
+ SX1278Fsk::Config config = {
+ .freq_rf = 434000000,
+ .freq_dev = 50000,
+ .bitrate = 48000,
+ .rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .afc_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
+ .ocp = 120,
+ .power = 13,
+ .shaping = Boardcore::SX1278Fsk::Config::Shaping::GAUSSIAN_BT_1_0,
+ .dc_free = Boardcore::SX1278Fsk::Config::DcFree::WHITENING,
+ .enable_crc = false};
+
+ SX1278Fsk::Error err;
+
+ SPIBus bus(SX1278_SPI);
+
+ std::unique_ptr<SX1278::ISX1278Frontend> frontend(new RA01Frontend());
+
+ sx1278 = new SX1278Fsk(bus, cs::getPin(), dio0::getPin(), dio1::getPin(),
+ dio3::getPin(), SPI::ClockDivider::DIV_64,
+ std::move(frontend));
+
+ printf("\n[sx1278] Configuring sx1278...\n");
+ if ((err = sx1278->init(config)) != SX1278Fsk::Error::NONE)
+ {
+ printf("[sx1278] sx1278->init error: %s\n", stringFromErr(err));
+
+ while (1)
+ Thread::wait();
+ }
+
+ printConfig(config);
+
+ channel = new Mav(sx1278, &onReceive, 0, MAV_OUT_BUFFER_MAX_AGE);
+ channel->start();
+
+ flightTmLoop();
+
+ return 0;
+}
diff --git a/src/tests/radio/sx1278/sx1278-init.h b/src/tests/radio/sx1278/sx1278-init.h
index f304948729a401b0045b907b2d971592d5c03742..2780a0c130f836709b810902858bb986c6c07a05 100644
--- a/src/tests/radio/sx1278/sx1278-init.h
+++ b/src/tests/radio/sx1278/sx1278-init.h
@@ -92,7 +92,7 @@ using rxen = miosix::radio::rxEn;
// #define SX1278_IS_EBYTE
// Comment to use SX1278_2
-#define SX1278_1
+// #define SX1278_1
#ifdef SX1278_1
using cs = miosix::radio1::cs;
@@ -208,11 +208,11 @@ bool initRadio()
#elif defined SX1278_IS_SKYWARD433
printf("[sx1278] Confuring Skyward 433 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::Skyward433Frontend());
+ new Boardcore::Skyward433Frontend());
#else
printf("[sx1278] Confuring RA01 frontend...\n");
std::unique_ptr<Boardcore::SX1278::ISX1278Frontend> frontend(
- new Boardcore::RA01Frontend());
+ new Boardcore::RA01Frontend());
#endif
// Initialize actual radio driver
@@ -221,6 +221,8 @@ bool initRadio()
Boardcore::SX1278Lora::Config config;
Boardcore::SX1278Lora::Error err;
+ config.freq_rf = 434000000;
+
sx1278 = new Boardcore::SX1278Lora(sx1278_bus, cs::getPin(), dio0::getPin(),
dio1::getPin(), dio3::getPin(),
Boardcore::SPI::ClockDivider::DIV_256,
@@ -239,6 +241,9 @@ bool initRadio()
Boardcore::SX1278Fsk::Config config;
Boardcore::SX1278Fsk::Error err;
+ config.freq_rf = 434000000;
+ config.enable_crc = false;
+
sx1278 = new Boardcore::SX1278Fsk(sx1278_bus, cs::getPin(), dio0::getPin(),
dio1::getPin(), dio3::getPin(),
Boardcore::SPI::ClockDivider::DIV_256,
@@ -247,7 +252,7 @@ bool initRadio()
printf("\n[sx1278] Configuring sx1278 fsk...\n");
if ((err = sx1278->init(config)) != Boardcore::SX1278Fsk::Error::NONE)
{
- // FIXME: Why does clang-format put this line up here?
+ // FIXME: Why does clang-format put this line up here?
printf("[sx1278] sx1278->init error\n");
return false;
}