Last fixes for release

flight_computer/platformio.ini

@@ -35,7 +35,7 @@ check_src_filters =
 build_unflags=-fno-rtti
 
 build_flags =
-  -D FIRMWARE_VERSION='"3.0.0"'
+  -D FIRMWARE_VERSION='"3.0.1"'
   -D ARM_MATH_CM4
   -D ARM_MATH_MATRIX_CHECK
   -D ARM_MATH_ROUNDING

flight_computer/src/tasks/task_telemetry.cpp

@@ -54,6 +54,7 @@ enum state_e {
 #define INDEX_OP       0
 #define INDEX_LEN      1
 #define TELE_MAX_POWER 30
+static constexpr uint32_t kDefaultPaGain = 34;
 
 void Telemetry::PackTxMessage(uint32_t ts, gnss_data_t* gnss, packed_tx_msg_t* tx_payload,
                               estimation_output_t estimation_data) const noexcept {
@@ -294,9 +295,15 @@ void Telemetry::ParseRxMessage(packed_rx_msg_t* rx_payload) noexcept {
     if (global_cats_config.telemetry_settings.adaptive_power == ON) {
       if (fsm_updated && (m_fsm_enum == THRUSTING)) {
         SendSettings(CMD_POWER_LEVEL, TELE_MAX_POWER);
+        // Send PA gain to update power level; 34 is already the default value on telemetry chip
+        // NOTE: This line has to stay here forever as telemetry code can't be updated for all boards
+        SendSettings(CMD_PA_GAIN, kDefaultPaGain);
       }
       if (fsm_updated && (m_fsm_enum == TOUCHDOWN)) {
         SendSettings(CMD_POWER_LEVEL, global_cats_config.telemetry_settings.power_level);
+        // Send PA gain to update power level; 34 is already the default value on telemetry chip
+        // NOTE: This line has to stay here forever as telemetry code can't be updated for all boards
+        SendSettings(CMD_PA_GAIN, kDefaultPaGain);
       }
     }
 

ground_station/platformio.ini

@@ -65,7 +65,7 @@ lib_deps =
 
 build_flags =
   -DCFG_TUSB_CONFIG_FILE='"sdkconfig.h"' ; Use default TinyUSB configuration
-  -DFIRMWARE_VERSION='"1.0.1"'           ; Enter Firmware Version here
+  -DFIRMWARE_VERSION='"1.1.0"'           ; Enter Firmware Version here
   -DUSB_MANUFACTURER='"CATS"'            ; USB Manufacturer string
   -DUSB_PRODUCT='"CATS Groundstation"'   ; USB Product String
   -D USB_SERIAL="0"                      ; Enter Device Serial Number here

ground_station/src/hmi/hmi.cpp

@@ -115,8 +115,12 @@ void Hmi::initLive() { window.initLive(); }
 void Hmi::live() {
   bool updated = false;
 
-  /* Dual Mode */
   if (link1.data.isUpdated() && link1.info.isUpdated()) {
+    // We log after LIFTOFF and stop either never (if neverStopLogging == TRUE) or at TOUCHDOWN
+    link1Log = (link1.data.state() > 2) && (systemConfig.config.neverStopLogging || link1.data.state() < 7);
+    if (link1Log) {
+      recorder.record(&link1.data.rxData, 1);
+    }
     window.updateLive(&link1.data, &link1.info, 0);
     updated = true;
   } else if (link1.info.isUpdated()) {
@@ -125,11 +129,10 @@ void Hmi::live() {
   }
 
   if (link2.data.isUpdated() && link2.info.isUpdated()) {
-    if (link2.data.state() > 2) {
-      recorder.record(&link2.data.rxData);
-      isLogging = true;
-    } else {
-      isLogging = false;
+    // We log after LIFTOFF and stop either never (if neverStopLogging == TRUE) or at TOUCHDOWN
+    link2Log = (link2.data.state() > 2) && (systemConfig.config.neverStopLogging || link2.data.state() < 7);
+    if (link2Log) {
+      recorder.record(&link2.data.rxData, 2);
     }
     window.updateLive(&link2.data, &link2.info, 1);
     updated = true;
@@ -138,12 +141,15 @@ void Hmi::live() {
     updated = true;
   }
 
+  isLogging = link1Log || link2Log;
+
   if (updated) {
     window.refresh();
   }
 
   if (backButton.wasPressed()) {
     state = MENU;
+    isLogging = false;
     window.initMenu(menuIndex);
   }
 }
@@ -575,13 +581,16 @@ void Hmi::update(void *pvParameter) {
     if (millis() - barUpdate >= 1000) {
       barUpdate = millis();
       float voltage = analogRead(18) * 0.00059154929;
-      int32_t free_memory = utils.getFlashMemoryUsage();
+      if (!ref->isLogging) {
+        ref->flashFreeMemory = utils.getFlashMemoryUsage();
+      }
       if (link2.time.isUpdated()) {
         setTime(link2.time.hour(), link2.time.minute(), link2.time.second(), 0, 0, 0);
         adjustTime(systemConfig.config.timeZoneOffset * 3600);
         timeValid = true;
       }
-      ref->window.updateBar(voltage, digitalRead(21), ref->isLogging, link2.location.isValid(), timeValid, free_memory);
+      ref->window.updateBar(voltage, digitalRead(21), ref->isLogging, link2.location.isValid(), timeValid,
+                            ref->flashFreeMemory);
     }
 
     ref->upButton.read();

ground_station/src/hmi/hmi.hpp

@@ -99,4 +99,9 @@ class Hmi {
   Window window;
 
   uint32_t menuIndex = 0;
+
+  uint32_t flashFreeMemory = 100;
+
+  bool link1Log = false;
+  bool link2Log = false;
 };

ground_station/src/hmi/window.cpp

@@ -59,24 +59,23 @@ void Window::initBar() {
 void Window::updateBar(float batteryVoltage, bool usb, bool logging, bool location, bool time, int32_t free_memory) {
   static int32_t oldHour = 0;
   static int32_t oldMinute = 0;
-  static float oldBatteryVoltage = 0;
   static bool oldUsbStatus = false;
-  static bool oldLocationStatus = false;
   static bool oldLoggingStatus = false;
   static int32_t oldFreeMemory = 0;
 
   static uint32_t blinkStatus = 0;
 
   // Logging
   if (logging != oldLoggingStatus) {
-    display.drawBitmap(65, 1, bar_download, 16, 16, !logging);
+    display.drawBitmap(75, 1, bar_download, 16, 16, !logging);
+    oldLoggingStatus = logging;
   }
   if (logging) {
-    display.drawBitmap(65, 1, bar_download, 16, 16, blinkStatus);
+    display.drawBitmap(75, 1, bar_download, 16, 16, blinkStatus);
   }
 
   // Location
-  if (location != oldLocationStatus) {
+  if (location) {
     display.drawBitmap(329, 1, bar_location, 16, 16, !location);
   }
 
@@ -132,7 +131,7 @@ void Window::updateBar(float batteryVoltage, bool usb, bool logging, bool locati
   }
 
   // Battery
-  if (batteryVoltage != oldBatteryVoltage && !usb) {
+  if (batteryVoltage && !usb) {
     if (batteryVoltage > 3.3f) {
       display.fillRect(373, 5, 6, 8, BLACK);
       display.drawRoundRect(371, 3, 24, 12, 2, BLACK);

ground_station/src/logging/recorder.cpp

@@ -20,7 +20,7 @@ bool Recorder::begin() {
     number++;
   } while (fatfs.exists(fileName));
 
-  queue = xQueueCreate(10, sizeof(packedRXMessage));
+  queue = xQueueCreate(64, sizeof(RecorderElement));
   xTaskCreate(recordTask, "task_recorder", 4096, this, 1, NULL);
   initialized = true;
   return initialized;
@@ -34,22 +34,25 @@ void Recorder::createFile() {
     return;
   }
   fileCreated = true;
-  file.println("ts,state,errors,lat,lon,altitude,velocity,battery,pyro1,pyro2");
+  file.println(
+      "link,ts[deciseconds],state,errors,lat[deg/10000],lon[deg/10000],altitude[m],velocity[m/"
+      "s],battery[decivolts],pyro1,pyro2");
 }
 
 void Recorder::recordTask(void *pvParameter) {
   Recorder *ref = (Recorder *)pvParameter;
   char line[128];
   uint32_t count = 0;
-  packedRXMessage element;
+  RecorderElement element;
   while (ref->initialized) {
     if (xQueueReceive(ref->queue, &element, portMAX_DELAY) == pdPASS) {
       if (!ref->fileCreated) {
         ref->createFile();
       }
-      snprintf(line, 128, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d", element.timestamp, element.state, element.errors,
-               element.lat, element.lon, element.altitude, element.velocity, element.voltage,
-               (bool)(element.pyro_continuity & 0x01), (bool)(element.pyro_continuity & 0x02));
+      const auto &data = element.data;
+      snprintf(line, 128, "%hu,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d", element.source, data.timestamp, data.state, data.errors,
+               data.lat, data.lon, data.altitude, data.velocity, data.voltage, (bool)(data.pyro_continuity & 0x01),
+               (bool)(data.pyro_continuity & 0x02));
       ref->file.println(line);
       count++;
 

ground_station/src/logging/recorder.hpp

@@ -3,6 +3,11 @@
 #include "telemetry/telemetryData.hpp"
 #include "utils.hpp"
 
+struct RecorderElement {
+  packedRXMessage data;
+  uint8_t source;  // Link 1 or Link 2
+};
+
 class Recorder {
  public:
   Recorder(const char* directory) : directory(directory) {}
@@ -12,9 +17,10 @@ class Recorder {
 
   void disable() { enabled = false; }
 
-  void record(packedRXMessage* data) {
+  void record(packedRXMessage* data, uint8_t link_source) {
     if (enabled) {
-      xQueueSend(queue, data, 0);
+      RecorderElement rec_elem = {*data, link_source};
+      xQueueSend(queue, &rec_elem, 0);
     }
   }
 

ground_station/src/navigation.cpp

@@ -15,7 +15,7 @@ bool Navigation::begin() {
 
   calibration = CALIB_CONCLUDED;
 
-  xTaskCreate(navigationTask, "task_recorder", 1024, this, 1, NULL);
+  xTaskCreate(navigationTask, "task_navigation", 1024, this, 1, NULL);
   return true;
 }