- Follower -
Mutex: Propagator state now using the mutex for the state in the step to avoi ABA issues. Also protecting in setting the NAS for nrPropagations.
SetState no more used.
std::chrono for constructor

- FollowerData -
Added AntennaAnglesLog, removing nrPropagations from AntennaAngles
And changes to constructors for wrapper structures

- Propagator -
std::chrono for constructor
Tests for propagator updated to use std::chrono

- Dipswitch -
std::chrono for constructor
Comments for pins and read order

[Fix] Added #include<cstdint> for logdecoder use in StepperData

Logdecoder compilation fails due to missing include for uint64_t type in SteperData.

[Fix] Cmakelist test-serial fix

[Fix] Follower's minimize rotation to non-class static function

[ARP] FollowerData void constructor removed for AntennaAnglesLog

[Follower fix] Fixed old log

[CI] Fixed CI, using namespace miosix was in DipSwitch.h

[ARP, LyraGS] Follower logging target angle. Dipswitch now agnostic.

Dipswitch now just read a uint8_t, no more has a lyra GS dependent read.
Follower now logging the target angle.

[DipSwitch] Fix on the test of the dipSwitch

Dipswitch now agnostic to the lyraGS struct, just a uint8_t read.
Fixed test to read accordingly.

[Fix] Dipswitch comment fix

BSP: Added the bsp with the hwmapping for the new GS and the bsp.cpp updated.
Make: Updated the boards.cmake with the new BSP
c_cpp_properties: Added the properties for the new GS board
WIP: bsp_impl.h is still in WIP

[GS] Formatting fix

[GS] Fixed pipeline.

Fixed pipeline: Wrong boardname was set on board_options, c_cpp_properties.
Also an #endif in hwmapping.h from old code now removed.

[BSP] Updated BSP: bsp_impl and hwmapping

bsp_impl: Added the sd and ram functions
hwmapping: Fixed the names in the dip switch namespace, added pins for remote controller (TLC) for ARP

[BSP] Updated bsp_impl, missing I/O and radio pin initialization

Some pin initialization was missing (Radio, TLC, dipSwitch)

[BSP] GS BSP update: Remote command box arm/disarm and leds

hwmapping: Added LEDs (Compute unit), command box arm/disarm switch.
bsp/bsp_impl: Led functions and initialization

[BSP] GS BSP fix ledOn, commandbox leds

bsp_impl: Fixed ledOn userLedx typo.
hwmapping: Added into the namespace the leds-timers mapping of the commandbox.

[BSP] GS bsp fixes

Fixes about the namespaces used, switchArm/Disarm in bsp.cpp, ifdef in hwmapping.h, also commandBox now outside interfaces namespace.

[BSP] GS bsp changed on top of the Compute unit v2 ones

The BSP was based on the old gemini gs instead of the compute unit v2 ones.
Now changed to those configurations and hw implementations with the mapping of the lyra gs.

[BSP] Automated_antennas BSP txen, rxen alias for the radio

Added txen and rxen namespace alias

[BSP] Added stepper pins initialization

Stepper pins initialization was missing from the BSP

[BSP] Minor reorder of the stepper enable in bsp.cpp

[BSP] GS: Removed CAN1

Removed CAN1 since no integral chip on the board for CAN

[BSP] GS Led naming

Changed led naming since color have changed

[BSP] GS BSP fixed switchActive was signed as switchDisarm

The active switch of the command box was incorrectly signed as switchDisarm, now correctly switchActive

[BSP] GS BSP now using leds as pins and not timers

Using now leds of the command box as pin and not timers, since using a thread for its control.

[BSP] Led bsp update for commandBox

[BSP] GS Fix on enable and disable pin of the steppers

The enable and disable pins was switched. Now fixed

[BSP] USART2 rx to pull up open drain and tx pull up for VN300

Fix: RX to pull up open drain since there are issues without the VN300 with the IDLE register.

[BSP] SD one bit data bus and divider

Was missing flag for one bit data bus SD and divider for maximum frequency

Emilio Corigliano authored 7 months ago and Nicolò Caruso committed 6 months ago

Method to convert quaternions to euler angles assuming that the roll stays close to 0. This applies to systems with 2 DoFs (yaw and pitch).

[SkyQuaternion] Fixed warning on type comparison

Federico Lolli authored 7 months ago and Nicolò Caruso committed 6 months ago

[Follower] Add minimize rotationa as suggested in previous obsw pull req.

See [this](avn/swd/obsw!34)
for more context

[logger] Updated logger

[ARP Follower] Yaw gain now 0.1

The yaw gain gain now is no more 1 but fixed to 0.1

[ARP] Added timestamp to AntennaAngles for log

Added timestamp to the AntennaAngles logged. Changed accordingly the constructors.

[Fix] Follower algorithm limitation issue due to proportional on yaw

The 0.1* product to have a proportional on the yaw was creating issues with the angle limiting function.

[ARP] Added nrPropagations for log in AntennaAngle now logged by SMA

Added nrPropagations to AntennaAngles
Moved the log of it from the Follower to SMA

[ARP] Follower initRocketCoordinates now is NASOrigin

Changed semantic of initialRocketCoordinates to NASOrigin since now it is set always as we have a NASOrigin.

[ARP] WIP fix for online initial coordinates support

Add support for initial coordinates online setting

[ARP] Follower Mutexes for antenna and NAS origin's coordinates

Now getter states to protect such variables with mutexes

Federico Lolli authored 7 months ago and Nicolò Caruso committed 6 months ago

Created the algorithm of a basic propagator which linearly propagates the last available rocket position by means of the rocket NAS velocity.
A catch test has been implemented to test the algorithm in a static environment, a dynamic one and with different update frequencies.

[Propagator] Now the constructor parameter must be passed in ms

The previous setting of 6 Mhz was not enough to fix the SD logging issues Lyra boards were experiencing.

Before some sigmas were actually variances, now they are all used as standard deviations

Co-Authored-By: Davide Basso <davide.basso@skywarder.eu>

using R_acc instead of R_mag

Co-Authored-By: Davide Basso <davide.basso@skywarder.eu>

Co-Authored-By: Davide Basso <davide.basso@skywarder.eu>

Co-Authored-By: Davide Basso <davide.basso@skywarder.eu>

Missing a ',' before the secondary type

[AnalogSensors] Improved Honeywell driver legibility, made sensor offset atomic and added offset getter

Emilio Corigliano authored 7 months ago and Davide Mor committed 7 months ago

- Doing computeForce before correctBaro
- Checking if S matrix (scalar) is invertible

Emilio Corigliano authored 7 months ago and Davide Mor committed 7 months ago

- Initialized mass parameter
- Fixed apogee estimation massive formula
- Simplified apogee estimation formula splitting it
- Added some documentation