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Magnetic disturbance and flight mode on CAN, User Reset Command #57

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Merged
merged 6 commits into from
May 29, 2025
Merged

Magnetic disturbance and flight mode on CAN, User Reset Command #57

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d74ad74
merged flight mode changes
realtimepeople May 27, 2025
aae1691
Implemented sensor rest command via CAN
realtimepeople May 28, 2025
4ad721d
Added sensor health CAN packet
realtimepeople May 28, 2025
31a374b
System state contains bit to report horizon availability.
realtimepeople May 28, 2025
7307246
Changes in sensor's reports
realtimepeople May 28, 2025
720a581
Merge pull request #56 from larus-breeze/main
realtimepeople May 29, 2025
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2 changes: 1 addition & 1 deletion NAV_Algorithms/data_structures.h
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Expand Up @@ -90,7 +90,7 @@ typedef struct
float integrator_vario;
float3vector wind;
float3vector wind_average;
uint32_t circle_mode;
uint32_t flight_mode;
quaternion<float> q;
eulerangle<float> euler;
float effective_vertical_acceleration;
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6 changes: 5 additions & 1 deletion NAV_Algorithms/navigator.cpp
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Expand Up @@ -143,7 +143,11 @@ void navigator_t::report_data( output_data_t &d)
d.effective_vertical_acceleration
= variometer.get_effective_vertical_acceleration();

d.circle_mode = ahrs.get_circling_state();
if( airborne_detector.is_airborne())
d.flight_mode = ahrs.get_circling_state();
else
d.flight_mode = 3; // = ON_GROUND

d.turn_rate = ahrs.get_turn_rate();
d.slip_angle = ahrs.getSlipAngle();
d.pitch_angle = ahrs.getPitchAngle();
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8 changes: 7 additions & 1 deletion Output_Formatter/CAN_output.cpp
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Expand Up @@ -44,6 +44,7 @@ enum CAN_ID_SENSOR
CAN_Id_SlipPitch = 0x128, //!< float slip angle from body-acc, float pitch angle from body-acc
CAN_Id_Voltage_Circle = 0x129, //!< float supply voltage, uint8_t circle-mode
CAN_Id_SystemState = 0x12a, //!< u32 system_state, u32 git_tag dec
CAN_Id_Sensor_Health = 0x12b, //!< float magnetic disturbance

CAN_Id_GPS_Date_Time = 0x140, //!< uint8_t year-2000, month, day, hour, mins, secs
CAN_Id_GPS_Lat = 0x141, //!< double latitude
Expand Down Expand Up @@ -121,7 +122,12 @@ void CAN_output ( const output_data_t &x, bool horizon_activated)
p.id=CAN_Id_Voltage_Circle;
p.dlc=5;
p.data_f[0] = x.m.supply_voltage;
p.data_b[4] = (uint8_t)(x.circle_mode);
p.data_b[4] = (uint8_t)(x.flight_mode);
CAN_send(p, 1);

p.id=CAN_Id_Sensor_Health;
p.dlc=4;
p.data_f[0] = x.magnetic_disturbance;
CAN_send(p, 1);

p.id=CAN_Id_GPS_Date_Time;
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1 change: 1 addition & 0 deletions Output_Formatter/CAN_output.h
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Expand Up @@ -58,6 +58,7 @@
#define CMD_MEASURE_LEVEL 0x3002
#define CMD_CALCULATE 0x3003
#define CMD_TUNE 0x3004
#define CMD_RESET_SENSOR 0x3005

void CAN_output ( const output_data_t &x, bool horizon_activated);
void CAN_heartbeat( void);
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4 changes: 3 additions & 1 deletion Output_Formatter/system_state.h
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Expand Up @@ -24,7 +24,9 @@ enum availability_bits
USB_OUTPUT_ACTIVE = 0x1000,
BLUEZ_OUTPUT_ACTIVE = 0x2000,
CAN_OUTPUT_ACTIVE = 0x4000,
USART_2_OUTPUT_ACTIVE = 0x8000
USART_2_OUTPUT_ACTIVE = 0x8000,

HORIZON_NOT_AVAILABLE = 0x10000
};

extern uint32_t system_state; //!< bits collected from availability_bits
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