From a68800478ef543f15c682bf186723af7a6871af0 Mon Sep 17 00:00:00 2001 From: bytecod3 Date: Tue, 6 Aug 2024 15:49:36 +0000 Subject: [PATCH] deploy: c98e846800082191df838c73f32b11a7b3254621 --- SystemLogLevels_8h_source.html | 115 -------- SystemLogger_8h_source.html | 119 -------- annotated.html | 26 +- classCustomGPS.html | 111 -------- classCustomGPS.png | Bin 451 -> 0 bytes classDataLogger-members.html | 110 -------- classDataLogger.html | 320 ---------------------- classLoggerConsole-members.html | 104 ------- classLoggerConsole.html | 128 --------- classLoggerConsole.png | Bin 532 -> 0 bytes classMPU6050-members.html | 132 --------- classMPU6050.html | 309 --------------------- classState__machine-members.html | 110 -------- classState__machine.html | 134 --------- classSystemLogger-members.html | 103 ------- classSystemLogger.html | 125 --------- classSystemLogger.png | Bin 535 -> 0 bytes classTest-members.html | 103 ------- classTest.html | 118 -------- classes.html | 18 +- 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SystemLogLevels.h
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1
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10#ifndef LEVELS_H
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11#define LEVELS_H
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12
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13enum LOG_LEVEL {
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14 DEBUG = 0,
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19};
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SystemLogger.h
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1#ifndef SYSTEMLOGGER_H
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2#define SYSTEMLOGGER_H
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3
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4#include <cstdint>
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7class SystemLogger {
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8 public:
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9 void writeToConsole (const uint32_t timestamp, const char* client, uint8_t log_level, const char* msg);
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10 const char* getLogLevelString(uint8_t log_level);
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11};
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Definition SystemLogger.h:7
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SystemLogger::getLogLevelString
const char * getLogLevelString(uint8_t log_level)
convert the log level to string
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Here are the classes, structs, unions and interfaces with brief descriptions:
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 CAcceleration_Data
 CAltimeter_Data
 CCustomGPS
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 CLoggerConsole
 CMPU6050
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 CSystemLogger
 CTelemetry_Data
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 CCustomGPS
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 CFiltered_Data
 CGPS_Data
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CustomGPS Class Reference
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#include <gps.h>

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Implements GPS functions to get latitude and longitude

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DataLogger Member List
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DataLogger(uint8_t cs_pin, uint8_t led_pin, char *filename, SerialFlashFile file, uint32_t filesize)DataLogger
loggerEquals()DataLogger
loggerFormat()DataLogger
loggerInfo()DataLogger
loggerInit()DataLogger
loggerRead(uint8_t file_pointer, char buffer)DataLogger
loggerSpaces()DataLogger
loggerTest()DataLogger
loggerWrite(telemetry_type_t)DataLogger
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DataLogger Class Reference
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#include <logger.h>

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 DataLogger (uint8_t cs_pin, uint8_t led_pin, char *filename, SerialFlashFile file, uint32_t filesize)
 class constructor pass the chip select pin as a parameter for that class instance
 
bool loggerInit ()
 Initialize the flash memory.
 
void loggerFormat ()
 format the flash memory
 
-void loggerInfo ()
 print the data about the flash memory
 
bool loggerTest ()
 test the flash memory write and read function by reading and writing a variable to it
 
void loggerWrite (telemetry_type_t)
 write the provided data to the file created
 
void loggerRead (uint8_t file_pointer, char buffer)
 Read data from the start of the file to the end of the file.
 
-void loggerSpaces ()
 helper function to print spaces for data formatting
 
-void loggerEquals ()
 helper function to print = for data formatting
 
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Detailed Description

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Author: Edwin Mwiti Email: emwit.nosp@m.i658.nosp@m.@gmai.nosp@m.l.co.nosp@m.m Date: 7/6/2024

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This file implements the onboard logging functions for the flight computer We use the SerialFlash library by Paul, link to the library is provided in the references section

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If you are using more than one SPI flash memory, create an instance for each SPI flash memory

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Constructor & Destructor Documentation

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◆ DataLogger()

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class constructor pass the chip select pin as a parameter for that class instance

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cs_pinchip select pin
flas_ledLED to show formatting status
filenamethe filename of the file being created
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◆ loggerFormat()

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format the flash memory

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test the flash memory write and read function by reading and writing a variable to it

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LoggerConsole Member List
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getLogLevelString(uint8_t log_level)SystemLogger
writeToConsole(const time_t timestamp, const char *client, uint8_t log_level, const char *msg) (defined in LoggerConsole)LoggerConsoleinline
writeToConsole(const uint32_t timestamp, const char *client, uint8_t log_level, const char *msg) (defined in SystemLogger)SystemLogger
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-Public Member Functions

-void writeToConsole (const time_t timestamp, const char *client, uint8_t log_level, const char *msg)
 
- Public Member Functions inherited from SystemLogger
-void writeToConsole (const uint32_t timestamp, const char *client, uint8_t log_level, const char *msg)
 
-const char * getLogLevelString (uint8_t log_level)
 convert the log level to string
 
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MPU6050 Member List
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This is the complete list of members for MPU6050, including all inherited members.

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acc_x (defined in MPU6050)MPU6050
acc_x_ms (defined in MPU6050)MPU6050
acc_x_real (defined in MPU6050)MPU6050
acc_y (defined in MPU6050)MPU6050
acc_y_ms (defined in MPU6050)MPU6050
acc_y_real (defined in MPU6050)MPU6050
acc_z (defined in MPU6050)MPU6050
acc_z_ms (defined in MPU6050)MPU6050
acc_z_real (defined in MPU6050)MPU6050
ang_vel_x (defined in MPU6050)MPU6050
ang_vel_x_real (defined in MPU6050)MPU6050
ang_vel_y (defined in MPU6050)MPU6050
ang_vel_y_real (defined in MPU6050)MPU6050
ang_vel_z (defined in MPU6050)MPU6050
ang_vel_z_real (defined in MPU6050)MPU6050
filterImu()MPU6050
getPitch()MPU6050
getRoll()MPU6050
init() (defined in MPU6050)MPU6050
MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range) (defined in MPU6050)MPU6050
pitch_angle (defined in MPU6050)MPU6050
readTemperature() (defined in MPU6050)MPU6050
readXAcceleration()MPU6050
readXAngularVelocity() (defined in MPU6050)MPU6050
readYAcceleration()MPU6050
readYAngularVelocity() (defined in MPU6050)MPU6050
readZAcceleration()MPU6050
readZAngularVelocity() (defined in MPU6050)MPU6050
roll_angle (defined in MPU6050)MPU6050
temp (defined in MPU6050)MPU6050
temp_real (defined in MPU6050)MPU6050
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MPU6050 Class Reference
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- MPU6050 (uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range)
 
-void init ()
 
float readXAcceleration ()
 
float readYAcceleration ()
 
float readZAcceleration ()
 
-float readXAngularVelocity ()
 
-float readYAngularVelocity ()
 
-float readZAngularVelocity ()
 
-float readTemperature ()
 
void filterImu ()
 
float getRoll ()
 
float getPitch ()
 
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-int16_t acc_x
 
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-float acc_z_real
 
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-int16_t temp
 
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Member Function Documentation

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◆ filterImu()

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perform sensor fusion perfom complementary filter to remove accelerometer high frequrecny noise remove low frequency noise from gyroscope and fuse the sensors

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compute the pitch angle angle along the transverse axis return roll angle in degrees

- -
-
- -

◆ readXAcceleration()

- -
-
- - - - - - - -
float MPU6050::readXAcceleration ()
-
-

Read X axiS acceleration

- -
-
- -

◆ readYAcceleration()

- -
-
- - - - - - - -
float MPU6050::readYAcceleration ()
-
-

Read Y acceleration

- -
-
- -

◆ readZAcceleration()

- -
-
- - - - - - - -
float MPU6050::readZAcceleration ()
-
-

Read Z acceleration

- -
-
-
The documentation for this class was generated from the following files:
    -
  • n4-flight-software/src/mpu.h
    • -
  • n4-flight-software/src/mpu.cpp
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-Generated by doxygen 1.11.0 -
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apogee() (defined in State_machine)State_machine
ballistic_descent() (defined in State_machine)State_machine
checkState(float, float) (defined in State_machine)State_machine
coasting() (defined in State_machine)State_machine
parachute_deploy() (defined in State_machine)State_machine
post_flight() (defined in State_machine)State_machine
powered_flight() (defined in State_machine)State_machine
pre_flight() (defined in State_machine)State_machine
State_machine() (defined in State_machine)State_machine
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-Public Member Functions

-int32_t checkState (float, float)
 
-int pre_flight ()
 
-int powered_flight ()
 
-int coasting ()
 
-int apogee ()
 
-int ballistic_descent ()
 
-int parachute_deploy ()
 
-int post_flight ()
 
-
The documentation for this class was generated from the following files: -
- -
-Generated by doxygen 1.11.0 -
-
- - diff --git a/classSystemLogger-members.html b/classSystemLogger-members.html deleted file mode 100644 index 3883a37..0000000 --- a/classSystemLogger-members.html +++ /dev/null @@ -1,103 +0,0 @@ - - - - - - - -N4 Flight Software: Member List - - - - - - - - - - - - - -
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getLogLevelString(uint8_t log_level)SystemLogger
writeToConsole(const uint32_t timestamp, const char *client, uint8_t log_level, const char *msg) (defined in SystemLogger)SystemLogger
- -
-Generated by doxygen 1.11.0 -
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- - diff --git a/classSystemLogger.html b/classSystemLogger.html deleted file mode 100644 index fc24f28..0000000 --- a/classSystemLogger.html +++ /dev/null @@ -1,125 +0,0 @@ - - - - - - - -N4 Flight Software: SystemLogger Class Reference - - - - - - - - - - - - - -
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N4 Flight Software -
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-Inheritance diagram for SystemLogger:
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-Public Member Functions

-void writeToConsole (const uint32_t timestamp, const char *client, uint8_t log_level, const char *msg)
 
-const char * getLogLevelString (uint8_t log_level)
 convert the log level to string
 
-
The documentation for this class was generated from the following files:
    -
  • n4-flight-software/system-logger/SystemLogger.h
    • -
  • n4-flight-software/system-logger/SystemLogger.cpp
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- - diff --git a/classSystemLogger.png b/classSystemLogger.png deleted file mode 100644 index 1b129b9d2452ae94df3ddac48ad1be9dd261e9a3..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 535 zcmV+y0_gpTP)vTJr#LVva2S`&=-}Ys|Ns9r%~qrU000SeQchC<|NsC0|NsC0Hv*f~0004^ zNklR6PRdu8$LRHnF zPb0SSt7z)#25q9imot81B zTVe9{>gA5x%_|oOi!9wP#wPR9QD&9I+rI*;Vn!PgTc&}?<<5ybFX@Zo)Dky{OD&p+ zS}mT=MZ6YmWe_PDw;lCxx_eK&iAznEOG^kL^az0@M`|KS(xFcxgd|;(^+%Fzm9P5|yW_q010rs5y>2#}xbX4U zdah5>1oJFUsUV`qHVTt~zlh{1q#fnmJ>qKYyqe3O5V68Hh$B%p2RT#jD9p<$qLQdr zwXhv^*~N1$QZjBk%ASidd5(@E$x - - - - - - -N4 Flight Software: Member List - - - - - - - - - - - - - -
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foo() (defined in Test)Test
y (defined in Test)Test
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-Public Member Functions

-int foo ()
 
- - - -

-Public Attributes

-int y
 
-
The documentation for this class was generated from the following file: -
- -
-Generated by doxygen 1.11.0 -
-
- - diff --git a/classes.html b/classes.html index aca5f87..fc28fd0 100644 --- a/classes.html +++ b/classes.html @@ -92,31 +92,31 @@
A
-
Acceleration_Data
Altimeter_Data
+
Acceleration_Data
Altimeter_Data
C
-
CustomGPS
+
CustomGPS
D
-
DataLogger
+
DataLogger
F
-
Filtered_Data
+
Filtered_Data
G
-
GPS_Data
Gyroscope_Data
+
GPS_Data
Gyroscope_Data
L
-
LoggerConsole
+
LoggerConsole
M
-
MPU6050
+
MPU6050
S
-
State_machine
SystemLogger
+
State_machine
SystemLogger
T
-
Telemetry_Data
Test
+
Telemetry_Data
Test
diff --git a/data-types_8h_source.html b/data-types_8h_source.html index b41c863..e691eab 100644 --- a/data-types_8h_source.html +++ b/data-types_8h_source.html @@ -99,60 +99,60 @@
9#include <Arduino.h>
10
-
11typedef struct Acceleration_Data{
+
11typedef struct Acceleration_Data{
12 float ax;
13 float ay;
14 float az;
15 float pitch;
16 float roll;
-
17} accel_type_t;
+
17} accel_type_t;
18
-
19typedef struct Gyroscope_Data {
+
19typedef struct Gyroscope_Data {
20 double gx;
21 double gy;
22 double gz;
-
23} gyro_type_t;
+
23} gyro_type_t;
24
-
25typedef struct GPS_Data{
+
25typedef struct GPS_Data{
26 double latitude;
27 double longitude;
28 uint16_t gps_altitude;
29 uint time;
-
30} gps_type_t;
+
30} gps_type_t;
31
-
32typedef struct Altimeter_Data{
+
32typedef struct Altimeter_Data{
33 double pressure;
34 double altitude;
35 double velocity;
36 double temperature;
37 double AGL; /* altitude above ground level */
-
38} altimeter_type_t;
+
38} altimeter_type_t;
39
-
40typedef struct Telemetry_Data {
+
40typedef struct Telemetry_Data {
41 uint32_t record_number;
42 uint8_t operation_mode;
43 uint8_t state;
-
44 accel_type_t acc_data;
-
45 gyro_type_t gyro_data;
-
46 gps_type_t gps_data;
-
47 altimeter_type_t alt_data;
-
48} telemetry_type_t;
+
44 accel_type_t acc_data;
+
45 gyro_type_t gyro_data;
+
46 gps_type_t gps_data;
+
47 altimeter_type_t alt_data;
+
48} telemetry_type_t;
49
50#endif
-
Acceleration_Data
Definition data-types.h:11
-
Altimeter_Data
Definition data-types.h:32
-
GPS_Data
Definition data-types.h:25
-
Gyroscope_Data
Definition data-types.h:19
-
Telemetry_Data
Definition data-types.h:40
+
Acceleration_Data
Definition data-types.h:11
+
Altimeter_Data
Definition data-types.h:32
+
GPS_Data
Definition data-types.h:25
+
Gyroscope_Data
Definition data-types.h:19
+
Telemetry_Data
Definition data-types.h:40
diff --git a/dir_f60075fce1cd53b9027038118d904c9d.html b/dir_f60075fce1cd53b9027038118d904c9d.html index 1967017..b36810b 100644 --- a/dir_f60075fce1cd53b9027038118d904c9d.html +++ b/dir_f60075fce1cd53b9027038118d904c9d.html @@ -95,9 +95,9 @@ - + - +

Files

 SystemLogger.h
 SystemLogger.h
 
 SystemLogLevels.h
 SystemLogLevels.h
 
diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 8b96d4b..6d7675c 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -8,266 +8,50 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files.html b/files.html index 42c16fb..58d07dc 100644 --- a/files.html +++ b/files.html @@ -106,8 +106,8 @@  mpu.h  states.h  ▼ system-logger - SystemLogger.h - SystemLogLevels.h + SystemLogger.h + SystemLogLevels.h  ▼ test  state_machine.cpp  state_machine.h diff --git a/functions.html b/functions.html index fa30639..52dfd6e 100644 --- a/functions.html +++ b/functions.html @@ -86,22 +86,22 @@
Here is a list of all documented class members with links to the class documentation for each member:
diff --git a/functions_func.html b/functions_func.html index 43ba2c4..37d1f67 100644 --- a/functions_func.html +++ b/functions_func.html @@ -86,22 +86,22 @@
Here is a list of all documented functions with links to the class documentation for each member:
diff --git a/gps_8h_source.html b/gps_8h_source.html index da8a13e..9ffaf1b 100644 --- a/gps_8h_source.html +++ b/gps_8h_source.html @@ -103,14 +103,14 @@
12#include <TinyGPSPlus.h>
13
-
14class CustomGPS : public TinyGPSPlus {
+
14class CustomGPS : public TinyGPSPlus {
15
16};
17
18
19#endif
-
CustomGPS
Definition gps.h:14
+
CustomGPS
Definition gps.h:14
diff --git a/hierarchy.html b/hierarchy.html index 9f29aa7..4cfab53 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -90,20 +90,20 @@
This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12]
- - - - - - - - - - - - + + + + + + + + + + + + - +
 CAcceleration_Data
 CAltimeter_Data
 CDataLogger
 CFiltered_Data
 CGPS_Data
 CGyroscope_Data
 CMPU6050
 CState_machine
 ▼CSystemLogger
 CLoggerConsole
 CTelemetry_Data
 CTest
 CAcceleration_Data
 CAltimeter_Data
 CDataLogger
 CFiltered_Data
 CGPS_Data
 CGyroscope_Data
 CMPU6050
 CState_machine
 ▼CSystemLogger
 CLoggerConsole
 CTelemetry_Data
 CTest
 ▼CTinyGPSPlus
 CCustomGPS
 CCustomGPS
diff --git a/include_2state__machine_8h_source.html b/include_2state__machine_8h_source.html index aa80d42..f88dec7 100644 --- a/include_2state__machine_8h_source.html +++ b/include_2state__machine_8h_source.html @@ -98,7 +98,7 @@
4#include "defs.h"
5
-
6class State_machine{
+
6class State_machine{
7
8 public:
9 int32_t checkState(float, float);
@@ -110,7 +110,7 @@
14}
15
16#endif
-
State_machine
Definition state_machine.h:6
+
State_machine
Definition state_machine.h:6
diff --git a/index.html b/index.html index 4e08812..6d7c3ff 100644 --- a/index.html +++ b/index.html @@ -5,7 +5,7 @@ -N4 Flight Software: N4 Flight Software +N4 Flight Software: N4 Flight Software Documentation @@ -85,10 +85,252 @@
-
N4 Flight Software
+
N4 Flight Software Documentation
-

+

Static Badge Static Badge Static Badge

+

+Code documentation

+

The complete code documentation can be found here ()[]

+

+N4 Flight software requirements

+
+

+1. Rocket kinematics (acceleration, velocity)

+

a) Perform accurate calculation of acceleration and velocity from sensor data

+

b) Perform data filtering to get close to ideal simulated data

+

+2. Rocket altitude above ground level (AGL)

+

a) Determine the rocket's instantaneous AGL during flight

+

+3. Flight state transitions

+

a) Accurately switch to the corresponding flight state based on evaluated sensor data

+

+4. Data logging and storage

+

a) Collect and aggregate all sensor data and store it in an external flash memory for post-flight data recovery

+

b) Perform onboard system logging to indicate all events that occur during flight and store this in a separate system log file

+

+5. Onboard systems diagnostics

+

a) Troubleshoot onboard subsystems such as the sensors, batteries etc. and log to the system file

+

b) Package the system diagnostics results into telemetry packets for transmission to ground

+

+6. GPS location

+

a) Accurately determine the latitude, longitude and timestamp of the rocket using GPS for post flight recovery

+

+7. Rocket attitude (orientation ) determination

+

a) Calculate the roll and pitch of the rocket in space during flight

+

+8. Command and data handling

+

a) Receive commands sent from ground station

+

b) Decode commands sent from ground station

+

c) Acknowledge and perform command sent from the ground station

+

+9. Telemetry transmission

+

a) Reliably transmit the rocket's data to the ground station

+

b) Perform error detection and correction on the telemetry packets

+

+10. Video capture and streaming**

+

a) Capture video stream during flight

+

b) Record video stream to an onboard SD card for post-flight analysis

+

b) Transmit video stream to ground**

+

+Tasks and task creation

+
+

+autotoc_md16

+

+Data queues and task communication

+
+

+Telemetry and transmission to ground

+
+

+Link budget calculation

+

+Telemetry packet structure

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Data Data type Size (bytes) Description
record_number uint32_t 4 record number count
state uint8_t 1 current flight state
operation_mode uint8_t 1 current flight mode, whether SAFE or ARMED
ax float 4 acceleration in the x-axis (m/s^2)
ay float 4 acceleration in the y-axis (m/s^2)
az float 4 acceleration in the z-axis (m/s^2)
pitch float 4 pitch angle (deg)
roll float 4 roll angle (deg)
gx float 4 angular velocity along the x-axis (deg/sec)
gy float 4 angular velocity along the y-axis (deg/sec)
gz float 4 angular velocity along the z-axis (deg/sec)
latitude double 8 geographical distance N or S of equator (deg)
longitude double 8 geographical distance E or W of Greenwich Meridian (deg)
gps_altitude uint16_t 2 altitude read by the onboard GPS (m)
gps_time time_t 4 current time from the GPS (UTC)
pressure float 4 pressure from the altimeter (mb)
temperature uint8_t 1 temperature from the altimeter (deg C)
altitude_agl uint16_t 2 height above ground level
velocity float 4 velocity derived from the altimeter
pyro1_state uint8_t 1 state of main chute pyro (whether ejected or active)
pyro2_state uint8_t 1 state of drogue chute pyro (whether ejected or active)
battery_voltage uint8_t 1 voltage of the battery during flight
Total packet size 74 BYTES
+

+Data Logging and storage

+
+

For logging and storage, we use two methods to ensure redundancy.

+

One is logging to an external SPI flash memory during flight, the WINBOND W25Q32JVSIQ2135, which is a 32Mbits(4 MB) storage chip. For redundancy, we add a microSD card into which data is dumped from the external SPI flash memory POST-FLIGHT.

+

The logging flowchart is shown below:

+

logger-flowchart

+

+Flash chip hardware tests

+

Using this library SerialFlashLib, we carried out flash chip hardware tests to make sure the MCU communicates as desired with the memory chip. The circuit diagram is shown below:

+

flash-cct

+

+PCB layout for the flash memory

+

To ensure maximum reliability of the flash memory on the PCB, follow the following techniques during layout:

+

The following snapshot from serial monitor shows that ESP32 was able to recognize the chip over the SPI channel.

+

flash-test

+

However, there is a discrepancy when we use this library to recognize this memory chip. This may be because the chip is a fake and therefore not recognized by this library. By default, the lib shows the size of the chip as 1MB, which is wrong.

+

If we use the SparkFun_SPI_SerialFlashChip library, we are able to recognize the chip as shown below.

+

flash-SFE

+

The flash chip is working okay from the tests above.

+

Now, since we want to access the flash memory in a file-system kind of way, where we can read and write FILES, we use the SerialFlash Library, even if the flash memory is not recognized by it. This will make it easier for us to access huge blocks of memory in chunks and avoid accessing the memory directly. In addition, we can erase files and use SD-like methods to access data.

+

The demonstration below received data from the serial monitor, and writes it to a file inside the flash memory.

+

First we test for file R/W.

+

+Known issue

+

When using SPI protocol on breadboard, it might fail to communicate with the peripheral device. This is because SPI is high-speed and is expected to be used with short traces on PCB. When testing this part, I experienced errors before i realized this issue. To correct this, I reduced the SPI communication speed from 50MHz to 20MHz so that I could access the R/W functions using the breadboard. More details are in reference #8 below.

+

Note: Make sure you change the speed to 20MHz for your files to be created. Change the speed in the SerialFlashChip.cpp near the top of the file (SPICONFIG)

+

The image below shows the response after I reduced the SPI speed: flash

+

Testing method

    +
  1. I created a file 4KB in size and named it test.csv.
    2. +
  2. Then generated dummy data using random() functions in Arduino.
    3. +
  3. I then appended this random data to the file, while checking the size being occupied by the file
    4. +
  4. Running the flash_read.ino file after data is done recording displays all the recorded data on the flash memory
    5. +
+

+How to recover the data

+

Use Nakuja Flight Data Recovery Tool to dump the recorded data as follows:

+

The image below shows the response after I reduced the SPI speed: flash

+

+GPS Operations

+

GPS is used to give us accurate location in terms of longitude, latitude, time and altitude. This data is useful for post-flight recovery and for apogee detection and verification. However, because of the low sample rate of GPS modules (1 Hz), we cannot use it reliably to log altitude data since rocketry is high speed.

+

gps

+

+Reading GPS data algorithm

+

We read GPS data using the TinyGPSPlus Library. The data of interest is the latitude, longitude, time and altitude. The algorithm is as follows:

+
    +
  1. Create GPS data queue
    2. +
  2. Create the readGPS task
    3. +
  3. Inside the task, create a local gps_type_t variable to hold the sampled data
    4. +
  4. Read the latitude, longitude, time and altitude into the gps_type_t variable
    5. +
  5. Send this data to telemetry_queue
    6. +
+

+GPS fix time issues

+

The start of GPS can be cold or warm. Cold start means the GPS is starting from scratch, no prior satellite data exists, and here it takes much time to lock satellites and download satellite data. Once you initially download satellite data, the following connections take less time, referred to as warm-starts.

+

When using GPS, you will find that the time it takes to acquire a fix to GPS satellites depends on the cloud cover. If the cloud cover is too high, it takes longer to acquire a signal and vice-versa. During one of the tests of the GPS, it took ~2 min at 45% cloud cover to acquire signal.

+

During launch, we do not want to wait for infinity to get a GPS lock, so we implement a timeout as follows:

+
Consider the GPS_WAIT_TIME as 2 minutes (2000ms):
+
+
1. Initialize a timeout variable and a lock_acquired boolean value
+
2. Check the value of the timeout_variable
+
3. Is it less than the GPS_WAIT_TIME?
+
4. If less than the wait time, continue waiting for GPS fix, if more than the GPS_WAIT_TIME, stop waiting for fix and return false
+
5. If the GPS data is available and successfully encoded via serial, set the lock_acquired booelan value to true
+

This timeout will ensure we do not delay other sub-systems of the flight software from starting.

+

+Flowchart

+

gps-flowchart

+

+GPS tests

+

The following screenshots show the results of GPS tests during development. In the image below, the raw GPS coordinates are read and printed on the serial debugger:

+

gps-data

+

+State machine logic and operation

+
+

+States

+

+State transition conditions

+

+State functions handling

+

+IMU

+

+Calculating acceleration from accelerometer

+

+Calculating velocity from accelerometer

+

The initial idea is to use integration. Since velocity is the first integral of acceleration. From the equation:

v = u + at
+

So what we do to calculate the velocity is keep track of time, acceleration in the requires axis and then update the initial velocity. Consider the X axis:

+
Vx = Ux + ACCx*Sample_time
+
Ux = Vx
+

(Let the sample tme be 1ms (0.001 s))

+

Known issue is velocity drift: where the velocity does not get to zero even when the sensor is stationary. small errors in the measurement of acceleration and angular velocity are integrated into progressively larger errors in velocity, which are compounded into still greater errors in position

+

Article: IMU Velocity drift

+

However, after extensive research online, it was concluded that getting velocity from accelerometer is very innacurate and unreliable. Check out this reddit thread: Acceleration & velocity with MPU6050

+

Check this arduinoForum article too (ArduinForum) [https://forum.arduino.cc/t/integrating-acceleration-to-get-velocity/954731/8]

+

Following this, we decide to keep the accelerometer for measuring the acceleration and the rocket orientation.

+

+Data Filtering

+
+

+Complementary filter

+

+Utility scripts

+

During development the following scripts might (and will) be useful.

+

+1. HEX converter

+

Converts string to HEX string and back. Built with python

+
+Requirements
+
    +
  1. Python > 3.10
    2. +
+

The screenshot below shows the program running: hex-converter

+
+Usage
+

Open a terminal window in the folder containing the hex-converter.py file and run the following command:

+
python hex-converter.py
+

The screenshot above appears. Select your option and proceed. The program will output your string in HEX format.

+

+References and Error fixes

+
    +
  1. (Wire LIbrary Device Lock) Confusing overload of Wire::begin · Issue #6616 · espressif/arduino-esp32 · GitHub
    2. +
  2. (Estimating velocity and altitude) [https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4179067/]
    3. +
  3. [rocket orientation and velocity] (https://www.reddit.com/r/rocketry/comments/10q7j8m/using_accelerometers_for_rocket_attitude/)
    4. +
  4. https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407
    5. +
  5. https://www.codeproject.com/Articles/99547/Hex-strings-to-raw-data-and-back
    6. +
  6. https://cdn.shopify.com/s/files/1/1014/5789/files/Standard-ASCII-Table_large.jpg?10669400161723642407
    7. +
  7. https://www.geeksforgeeks.org/convert-a-string-to-hexadecimal-ascii-values/
    8. +
  8. (SPI Flash memory file creation issue on breadboard) https://forum.arduino.cc/t/esp32-and-winbond-w25q128jv-serial-flash-memory/861315/3
    9. +
diff --git a/kalman_8h_source.html b/kalman_8h_source.html index db3bf9c..c1c206f 100644 --- a/kalman_8h_source.html +++ b/kalman_8h_source.html @@ -97,16 +97,16 @@
3
4/* define struct to hold filtered data*/
-
5struct Filtered_Data{
+
5struct Filtered_Data{
6 float x_acceleration;
7};
8
9
10/* this function returns Kalman-filtered data */
-
11struct Filtered_Data filterData(float);
+
11struct Filtered_Data filterData(float);
12
-
Filtered_Data
Definition kalman.h:5
+
Filtered_Data
Definition kalman.h:5
diff --git a/logger_8h_source.html b/logger_8h_source.html index 037b0db..4abb2da 100644 --- a/logger_8h_source.html +++ b/logger_8h_source.html @@ -101,7 +101,7 @@
19#include "data-types.h"
20
-
21class DataLogger {
+
21class DataLogger {
22 private:
23 uint8_t _cs_pin; // Chip select pin for the SPI flash memory
24 uint8_t _led_pin; // this LED flashes at a 10Hz frequency when the SPI flash chip is foramtting
@@ -113,33 +113,33 @@
30
31
32 public:
-
33 DataLogger(uint8_t cs_pin, uint8_t led_pin, char* filename, SerialFlashFile file, uint32_t filesize); // constructor
-
34 bool loggerInit();
-
35 void loggerFormat();
-
36 void loggerInfo();
-
37 bool loggerTest();
-
38 void loggerWrite(telemetry_type_t);
-
39 void loggerRead(uint8_t file_pointer, char buffer);
-
40 void loggerSpaces();
-
41 void loggerEquals();
+
33 DataLogger(uint8_t cs_pin, uint8_t led_pin, char* filename, SerialFlashFile file, uint32_t filesize); // constructor
+
34 bool loggerInit();
+
35 void loggerFormat();
+
36 void loggerInfo();
+
37 bool loggerTest();
+
38 void loggerWrite(telemetry_type_t);
+
39 void loggerRead(uint8_t file_pointer, char buffer);
+
40 void loggerSpaces();
+
41 void loggerEquals();
42};
43
44
45#endif
-
DataLogger
Definition logger.h:21
-
DataLogger::loggerInit
bool loggerInit()
Initialize the flash memory.
Definition logger.cpp:75
-
DataLogger::loggerWrite
void loggerWrite(telemetry_type_t)
write the provided data to the file created
Definition logger.cpp:159
-
DataLogger::loggerRead
void loggerRead(uint8_t file_pointer, char buffer)
Read data from the start of the file to the end of the file.
Definition logger.cpp:228
-
DataLogger::loggerFormat
void loggerFormat()
format the flash memory
Definition logger.cpp:35
-
DataLogger::loggerInfo
void loggerInfo()
print the data about the flash memory
Definition logger.cpp:239
-
DataLogger::DataLogger
DataLogger(uint8_t cs_pin, uint8_t led_pin, char *filename, SerialFlashFile file, uint32_t filesize)
class constructor pass the chip select pin as a parameter for that class instance
Definition logger.cpp:21
-
DataLogger::loggerSpaces
void loggerSpaces()
helper function to print spaces for data formatting
Definition logger.cpp:252
-
DataLogger::loggerEquals
void loggerEquals()
helper function to print = for data formatting
Definition logger.cpp:261
-
DataLogger::loggerTest
bool loggerTest()
test the flash memory write and read function by reading and writing a variable to it
Definition logger.cpp:142
+
DataLogger
Definition logger.h:21
+
DataLogger::loggerInit
bool loggerInit()
Initialize the flash memory.
Definition logger.cpp:75
+
DataLogger::loggerWrite
void loggerWrite(telemetry_type_t)
write the provided data to the file created
Definition logger.cpp:159
+
DataLogger::loggerRead
void loggerRead(uint8_t file_pointer, char buffer)
Read data from the start of the file to the end of the file.
Definition logger.cpp:228
+
DataLogger::loggerFormat
void loggerFormat()
format the flash memory
Definition logger.cpp:35
+
DataLogger::loggerInfo
void loggerInfo()
print the data about the flash memory
Definition logger.cpp:239
+
DataLogger::DataLogger
DataLogger(uint8_t cs_pin, uint8_t led_pin, char *filename, SerialFlashFile file, uint32_t filesize)
class constructor pass the chip select pin as a parameter for that class instance
Definition logger.cpp:21
+
DataLogger::loggerSpaces
void loggerSpaces()
helper function to print spaces for data formatting
Definition logger.cpp:252
+
DataLogger::loggerEquals
void loggerEquals()
helper function to print = for data formatting
Definition logger.cpp:261
+
DataLogger::loggerTest
bool loggerTest()
test the flash memory write and read function by reading and writing a variable to it
Definition logger.cpp:142
filename
char filename[]
Definition main.cpp:518
file
SerialFlashFile file
Definition main.cpp:522
-
Telemetry_Data
Definition data-types.h:40
+
Telemetry_Data
Definition data-types.h:40
diff --git a/menudata.js b/menudata.js index 71668bb..d1ece13 100644 --- a/menudata.js +++ b/menudata.js @@ -23,39 +23,4 @@ @licend The above is the entire license notice for the JavaScript code in this file */ var menudata={children:[ -{text:"Main Page",url:"index.html"}, -{text:"Related Pages",url:"pages.html"}, -{text:"Classes",url:"annotated.html",children:[ -{text:"Class List",url:"annotated.html"}, -{text:"Class Index",url:"classes.html"}, -{text:"Class Hierarchy",url:"hierarchy.html"}, -{text:"Class Members",url:"functions.html",children:[ -{text:"All",url:"functions.html"}, -{text:"Functions",url:"functions_func.html"}]}]}, -{text:"Files",url:"files.html",children:[ -{text:"File List",url:"files.html"}, -{text:"File Members",url:"globals.html",children:[ -{text:"All",url:"globals.html",children:[ -{text:"a",url:"globals.html#index_a"}, -{text:"b",url:"globals.html#index_b"}, -{text:"c",url:"globals.html#index_c"}, -{text:"d",url:"globals.html#index_d"}, -{text:"e",url:"globals.html#index_e"}, -{text:"f",url:"globals.html#index_f"}, -{text:"g",url:"globals.html#index_g"}, -{text:"h",url:"globals.html#index_h"}, -{text:"i",url:"globals.html#index_i"}, -{text:"l",url:"globals.html#index_l"}, -{text:"m",url:"globals.html#index_m"}, -{text:"n",url:"globals.html#index_n"}, -{text:"o",url:"globals.html#index_o"}, -{text:"p",url:"globals.html#index_p"}, -{text:"r",url:"globals.html#index_r"}, -{text:"s",url:"globals.html#index_s"}, -{text:"t",url:"globals.html#index_t"}, -{text:"v",url:"globals.html#index_v"}]}, -{text:"Functions",url:"globals_func.html"}, -{text:"Variables",url:"globals_vars.html"}, -{text:"Enumerations",url:"globals_enum.html"}, -{text:"Enumerator",url:"globals_eval.html"}, -{text:"Macros",url:"globals_defs.html"}]}]}]} +{text:"Main Page",url:"index.html"}]} diff --git a/mpu_8h_source.html b/mpu_8h_source.html index c5dfcc4..4a9f81b 100644 --- a/mpu_8h_source.html +++ b/mpu_8h_source.html @@ -144,7 +144,7 @@
50#define TO_DEG_FACTOR 57.32
51
-
52class MPU6050 {
+
52class MPU6050 {
53 private:
54 uint8_t _address;
55 uint32_t _accel_fs_range;
@@ -163,30 +163,30 @@
68 float acc_x_ms, acc_y_ms, acc_z_ms; // acceleration in m/s^2
69
70
-
71 MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);
+
71 MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);
72 void init();
-
73 float readXAcceleration();
-
74 float readYAcceleration();
-
75 float readZAcceleration();
+
73 float readXAcceleration();
+
74 float readYAcceleration();
+
75 float readZAcceleration();
76 float readXAngularVelocity();
77 float readYAngularVelocity();
78 float readZAngularVelocity();
79 float readTemperature();
-
80 void filterImu();
-
81 float getRoll();
-
82 float getPitch();
+
80 void filterImu();
+
81 float getRoll();
+
82 float getPitch();
83
84};
85
86#endif
-
MPU6050
Definition mpu.h:52
-
MPU6050::readZAcceleration
float readZAcceleration()
Definition mpu.cpp:109
-
MPU6050::readXAcceleration
float readXAcceleration()
Definition mpu.cpp:57
-
MPU6050::getPitch
float getPitch()
Definition mpu.cpp:153
-
MPU6050::readYAcceleration
float readYAcceleration()
Definition mpu.cpp:83
-
MPU6050::getRoll
float getRoll()
Definition mpu.cpp:137
-
MPU6050::filterImu
void filterImu()
Definition mpu.cpp:169
+
MPU6050
Definition mpu.h:52
+
MPU6050::readZAcceleration
float readZAcceleration()
Definition mpu.cpp:109
+
MPU6050::readXAcceleration
float readXAcceleration()
Definition mpu.cpp:57
+
MPU6050::getPitch
float getPitch()
Definition mpu.cpp:153
+
MPU6050::readYAcceleration
float readYAcceleration()
Definition mpu.cpp:83
+
MPU6050::getRoll
float getRoll()
Definition mpu.cpp:137
+
MPU6050::filterImu
void filterImu()
Definition mpu.cpp:169
diff --git a/pages.html b/pages.html index 0f98afc..62cc949 100644 --- a/pages.html +++ b/pages.html @@ -91,6 +91,7 @@
Here is a list of all related documentation pages:
+
 Contributing Guidelines
 pin-assignment
diff --git a/search/all_0.js b/search/all_0.js index 4f91b48..b996e03 100644 --- a/search/all_0.js +++ b/search/all_0.js @@ -1,6 +1,6 @@ var searchData= [ - ['1_20hex_20converter_0',['1. HEX converter',['..//github/workspace/README.md#autotoc_md62',1,'']]], - ['1_20rocket_20kinematics_20acceleration_20velocity_1',['1. Rocket kinematics (acceleration, velocity)',['..//github/workspace/README.md#autotoc_md20',1,'']]], - ['10_20video_20capture_20and_20streaming_2',['10. Video capture and streaming**',['..//github/workspace/README.md#autotoc_md29',1,'']]] + ['1_20hex_20converter_0',['1. HEX converter',['../index.html#autotoc_md46',1,'']]], + ['1_20rocket_20kinematics_20acceleration_20velocity_1',['1. Rocket kinematics (acceleration, velocity)',['../index.html#autotoc_md4',1,'']]], + ['10_20video_20capture_20and_20streaming_2',['10. Video capture and streaming**',['../index.html#autotoc_md13',1,'']]] ]; diff --git a/search/all_1.js b/search/all_1.js index 200c1e4..b922436 100644 --- a/search/all_1.js +++ b/search/all_1.js @@ -1,4 +1,4 @@ var searchData= [ - ['2_20rocket_20altitude_20above_20ground_20level_20agl_0',['2. Rocket altitude above ground level (AGL)',['..//github/workspace/README.md#autotoc_md21',1,'']]] + ['2_20rocket_20altitude_20above_20ground_20level_20agl_0',['2. Rocket altitude above ground level (AGL)',['../index.html#autotoc_md5',1,'']]] ]; diff --git a/search/all_10.js b/search/all_10.js index e16262f..7e349a8 100644 --- a/search/all_10.js +++ b/search/all_10.js @@ -1,18 +1,7 @@ var searchData= [ - ['getloglevelstring_0',['getLogLevelString',['../classSystemLogger.html#ad6feeadde357832516761347ff4cf25c',1,'SystemLogger']]], - ['getpitch_1',['getPitch',['../classMPU6050.html#aa8d0edd31d2892d6703b4dce77d4dfc7',1,'MPU6050']]], - ['getroll_2',['getRoll',['../classMPU6050.html#adcecd29f4445b6670aafa2452a26f197',1,'MPU6050']]], - ['gps_20data_20algorithm_3',['Reading GPS data algorithm',['..//github/workspace/README.md#autotoc_md46',1,'']]], - ['gps_20fix_20time_20issues_4',['GPS fix time issues',['..//github/workspace/README.md#autotoc_md47',1,'']]], - ['gps_20location_5',['6. GPS location',['..//github/workspace/README.md#autotoc_md25',1,'']]], - ['gps_20operations_6',['GPS Operations',['..//github/workspace/README.md#autotoc_md45',1,'']]], - ['gps_20tests_7',['GPS tests',['..//github/workspace/README.md#autotoc_md49',1,'']]], - ['gps_5fdata_8',['GPS_Data',['../structGPS__Data.html',1,'']]], - ['gpsinit_9',['GPSInit',['../src_2main_8cpp.html#a6f220446b54026b1217f93a3a9c04c1f',1,'main.cpp']]], - ['green_5fled_10',['green_led',['../src_2main_8cpp.html#ac4026e93b77dbb4130e8114a3ce0f669',1,'main.cpp']]], - ['ground_11',['Telemetry and transmission to ground',['..//github/workspace/README.md#autotoc_md35',1,'']]], - ['ground_20level_20agl_12',['2. Rocket altitude above ground level (AGL)',['..//github/workspace/README.md#autotoc_md21',1,'']]], - ['guidelines_13',['Contributing Guidelines',['../md_contributing.html',1,'']]], - ['gyroscope_5fdata_14',['Gyroscope_Data',['../structGyroscope__Data.html',1,'']]] + ['handling_0',['handling',['../index.html#autotoc_md11',1,'8. Command and data handling'],['../index.html#autotoc_md38',1,'State functions handling']]], + ['hardware_20tests_1',['Flash chip hardware tests',['../index.html#autotoc_md25',1,'']]], + ['hex_20converter_2',['1. HEX converter',['../index.html#autotoc_md46',1,'']]], + ['how_20to_20recover_20the_20data_3',['How to recover the data',['../index.html#autotoc_md28',1,'']]] ]; diff --git a/search/all_11.js b/search/all_11.js index 2df44a8..7e5b0dd 100644 --- a/search/all_11.js +++ b/search/all_11.js @@ -1,11 +1,6 @@ var searchData= [ - ['handling_0',['handling',['..//github/workspace/README.md#autotoc_md27',1,'8. 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GPS location',['../index.html#autotoc_md9',1,'']]], + ['logging_20and_20storage_4',['Data Logging and storage',['../index.html#autotoc_md23',1,'']]], + ['logging_20and_20storage_5',['4. Data logging and storage',['../index.html#autotoc_md7',1,'']]], + ['logic_20and_20operation_6',['State machine logic and operation',['../index.html#autotoc_md34',1,'']]] ]; diff --git a/search/all_14.js b/search/all_14.js index c6015ec..74a436b 100644 --- a/search/all_14.js +++ b/search/all_14.js @@ -1,23 +1,5 @@ var searchData= [ - ['layout_20for_20the_20flash_20memory_0',['PCB layout for the flash memory',['..//github/workspace/README.md#autotoc_md42',1,'']]], - ['level_20agl_1',['2. 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diff --git a/search/pages_3.js b/search/pages_3.js index 4d1304e..d6e9870 100644 --- a/search/pages_3.js +++ b/search/pages_3.js @@ -1,4 +1,4 @@ var searchData= [ - ['n4_20flight_20software_0',['N4 Flight Software',['../index.html',1,'']]] + ['software_20documentation_0',['N4 Flight Software Documentation',['../index.html',1,'']]] ]; diff --git a/search/pages_4.js b/search/pages_4.js index 603a84a..4d1304e 100644 --- a/search/pages_4.js +++ b/search/pages_4.js @@ -1,4 +1,4 @@ var searchData= [ - ['software_0',['N4 Flight Software',['../index.html',1,'']]] + ['n4_20flight_20software_0',['N4 Flight Software',['../index.html',1,'']]] ]; diff --git a/search/searchdata.js b/search/searchdata.js index 79f4352..e8352e1 100644 --- a/search/searchdata.js +++ b/search/searchdata.js @@ -1,39 +1,18 @@ var indexSectionsWithContent = { - 0: "123456789:abcdefghiklmnopqrstuvw", - 1: "acdfglmst", - 2: "cms", - 3: "bcdfghilmprs", - 4: "acfgiloprstv", - 5: "t", - 6: "hr", - 7: "acemnst", - 8: "cfgns" + 0: "123456789abcdefghiklmnopqrstuv", + 1: "dfns" }; var indexSectionNames = { 0: "all", - 1: "classes", - 2: "files", - 3: "functions", - 4: "variables", - 5: "enums", - 6: "enumvalues", - 7: "defines", - 8: "pages" + 1: "pages" }; var indexSectionLabels = { 0: "All", - 1: "Classes", - 2: "Files", - 3: "Functions", - 4: "Variables", - 5: "Enumerations", - 6: "Enumerator", - 7: "Macros", - 8: "Pages" + 1: "Pages" }; diff --git a/src_2main_8cpp.html b/src_2main_8cpp.html index bbd2420..0447015 100644 --- a/src_2main_8cpp.html +++ b/src_2main_8cpp.html @@ -396,7 +396,7 @@ uint16_t log_sample_interval = 10   -DataLogger data_logger (flash_cs_pin, flash_led_pin, filename, file, FILE_SIZE_4M) +DataLogger data_logger (flash_cs_pin, flash_led_pin, filename, file, FILE_SIZE_4M)   long long current_time = 0 @@ -407,21 +407,21 @@ EventGroupHandle_t tasksDataReceiveEventGroup   -accel_type_t acc_data +accel_type_t acc_data   -gyro_type_t gyro_data +gyro_type_t gyro_data   -gps_type_t gps_data +gps_type_t gps_data   -altimeter_type_t altimeter_data +altimeter_type_t altimeter_data   -telemetry_type_t telemetry_packet +telemetry_type_t telemetry_packet   -MPU6050 imu (0x68, 16, 1000) +MPU6050 imu (0x68, 16, 1000)   SFE_BMP180 altimeter @@ -1182,7 +1182,7 @@

- +
accel_type_t acc_dataaccel_type_t acc_data
@@ -1363,7 +1363,7 @@

- + @@ -1379,7 +1379,7 @@

-

///////////////////////// END OF DATA VARIABLES ///////////////////////// create an MPU6050 object 0x68 is the address of the MPU set gyro to max deg to 1000 deg/sec set accel fs reading to 16g

+

///////////////////////// END OF DATA VARIABLES ///////////////////////// create an MPU6050 object 0x68 is the address of the MPU set gyro to max deg to 1000 deg/sec set accel fs reading to 16g

diff --git a/structAcceleration__Data-members.html b/structAcceleration__Data-members.html deleted file mode 100644 index 08dd10d..0000000 --- a/structAcceleration__Data-members.html +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - -N4 Flight Software: Member List - - - - - - - - - - - - - -
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MPU6050 imu(0x68, 16, 1000) MPU6050 imu(0x68, 16, 1000) ( 0x68 ,
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ax (defined in Acceleration_Data)Acceleration_Data
ay (defined in Acceleration_Data)Acceleration_Data
az (defined in Acceleration_Data)Acceleration_Data
pitch (defined in Acceleration_Data)Acceleration_Data
roll (defined in Acceleration_Data)Acceleration_Data
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#include <data-types.h>

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-Public Attributes

-float ax
 
-float ay
 
-float az
 
-float pitch
 
-float roll
 
-

Detailed Description

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///////////////////////// DATA TYPES /////////////////////////

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- - diff --git a/structAltimeter__Data-members.html b/structAltimeter__Data-members.html deleted file mode 100644 index 485ddce..0000000 --- a/structAltimeter__Data-members.html +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - -N4 Flight Software: Member List - - - - - - - - - - - - - -
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AGL (defined in Altimeter_Data)Altimeter_Data
altitude (defined in Altimeter_Data)Altimeter_Data
pressure (defined in Altimeter_Data)Altimeter_Data
temperature (defined in Altimeter_Data)Altimeter_Data
velocity (defined in Altimeter_Data)Altimeter_Data
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-double pressure
 
-double altitude
 
-double velocity
 
-double temperature
 
-double AGL
 
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-float x_acceleration
 
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gps_altitude (defined in GPS_Data)GPS_Data
latitude (defined in GPS_Data)GPS_Data
longitude (defined in GPS_Data)GPS_Data
time (defined in GPS_Data)GPS_Data
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-double latitude
 
-double longitude
 
-uint16_t gps_altitude
 
-uint time
 
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alt_data (defined in Telemetry_Data)Telemetry_Data
gps_data (defined in Telemetry_Data)Telemetry_Data
gyro_data (defined in Telemetry_Data)Telemetry_Data
operation_mode (defined in Telemetry_Data)Telemetry_Data
record_number (defined in Telemetry_Data)Telemetry_Data
state (defined in Telemetry_Data)Telemetry_Data
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-uint32_t record_number
 
-uint8_t operation_mode
 
-uint8_t state
 
-accel_type_t acc_data
 
-gyro_type_t gyro_data
 
-gps_type_t gps_data
 
-altimeter_type_t alt_data
 
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- - diff --git a/test_2state__machine_8h_source.html b/test_2state__machine_8h_source.html index 93fdd80..8a9b91a 100644 --- a/test_2state__machine_8h_source.html +++ b/test_2state__machine_8h_source.html @@ -95,11 +95,11 @@
1#ifndef STATE_MACHINE_H
2#define STATE_MACHINE_H
3
-
4class State_machine{
+
4class State_machine{
5 private:
6
7 public:
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8 State_machine();
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8 State_machine();
9 int pre_flight();
10 int powered_flight();
11 int coasting();
@@ -110,7 +110,7 @@
16};
17
18#endif
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State_machine
Definition state_machine.h:6
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State_machine
Definition state_machine.h:6
diff --git a/test__class_8h_source.html b/test__class_8h_source.html index 8f6151f..bd6ccdf 100644 --- a/test__class_8h_source.html +++ b/test__class_8h_source.html @@ -93,7 +93,7 @@
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1class Test{
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1class Test{
2 public:
3 int y;
4 int foo();
@@ -104,7 +104,7 @@
8 int x = 9;
9 return x;
10}
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Test
Definition test_class.h:1
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Test
Definition test_class.h:1