02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 66 insertions, 0 deletions

diff --git a/include/ads.hpp b/include/ads.hpp
new file mode 100644
index 0000000..b16c4fb
--- /dev/null
+++ b/include/ads.hpp
@@ -0,0 +1,66 @@
+#pragma once
+#include <iostream>
+#include <exception>
+#include <stdexcept>
+#include <chrono>
+#include <thread>
+#include "kalmanfilter.hpp"
+#include "logger.hpp"
+#include "actuationPlan.hpp"
+#include "rocketUtils.hpp"
+#include "sensorIMU.hpp"
+#include "sensorAltimeter.hpp"
+#include "motor.hpp"
+#include "eigen3/Eigen/Dense"
+
+using namespace Eigen;
+
+class ADS {
+
+    private:
+
+        KalmanFilter kf;      
+        ActuationPlan plan;
+
+        IMUSensor imu;
+        AltimeterSensor altimeter;
+        Motor motor;
+        Vehicle rocket;
+
+        /**
+         * @brief Logs a summary of all pertinent current rocket data
+         *  (e.g. Altitude, Velocity, Acceleration)
+         */
+        virtual void logSummary();
+        
+        /**
+         * @brief Performs a routine to calculate the average altitude
+         *      while the vehicle is waiting on the pad.
+         */
+        virtual void updateOnPadAltitude();
+
+        /**
+         * @brief Update the vehicle with the current sensor (IMU & Altimeter) readings
+         */
+        virtual void updateSensorData();
+
+        /**
+         * @brief Update the rocket state based on its current telemetry readings.
+         *     Also Log pertinent telemetry and rocket state data
+         */
+        virtual void updateRocketState();
+
+    public:
+
+        /**
+         * @brief Construct a new ADS object
+         * 
+         * @param plan The Actuation Plan for the Rocket
+         */
+        ADS(ActuationPlan plan);
+
+        /**
+         * @brief Run the full active drag system from launch to landing.
+         */
+        virtual void run();
+};
\ No newline at end of file