Commits reflecting Launch branch on old N2-AvionicsFlightSoftware at …

…this time

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

README.md

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+# N2-flight-software
+## Introduction
+This repository contains code used for flight software for Nakuja Rocket N2. The following description provides a detailed
+description of program flow, project structure, library dependencies and/or any other necessary documentation needed to run this 
+code successfully.
+
+## Project structure
+***
+
+```asm
+├── data
+│   └── flightdata.txt
+├── include
+│   ├── checkState.h
+│   ├── defs.h
+│   ├── functions.h
+│   ├── kalmanfilter.h
+│   ├── logdata.h
+│   ├── readsensors.h
+│   └── transmitwifi.h
+├── lib
+│   └── README
+├── LICENSE
+├── platformio.ini
+├── README.md
+├── src
+│   └── main.cpp
+└── test
+    └── README
+```
+
+### 1. Folders Description
+| Folder  | Description   |
+|---|---|
+|  include | Contains header files   |
+|  lib | Project libraries|
+|src| Contains main.cpp source file run by the flight computer   |
+|test| Contains unit test files    |
+
+### 2. Files Description
+| File | Description |
+| ---------| ----------- |
+|defs.h  | Contains constants declaration |
+|functions.h| Contains general utility functions and prototype function declarations |
+|logdata.h | code for SD card mounting and logging |
+|checkState.h| Contains state machine logic |
+|kalmanfilter.h | Contains kalman filter for accelerometer values |
+|readsensors.h | Contains code for sensors on board including the MPU,BMP,GPS |
+|transmitwifi.h | Contains WiFi set-up and MQTT code |
+
+
+## Flight Logic 
+The flight program is structured as a state machine with the following states: adopted from BPS space 
+| State  | Description  | Waiting for event |
+|---|---| -----|
+| 0  | Pre-Flight Ground    |  20m Above Ground Level  |
+| 1  | Powered Flight      |  accelerationZ <=2m/s<sup>2</sup> for 0.1s |
+| 2  | Coasting      |  velecity less than zero to detect apogee|
+| 3  | Ballistic Descent    |  20m displacement below apogee to deploy parachute  |
+| 4  | Chute Descent| < 20m Above Ground|
+| 5  | Post-flight Ground    |  No more events  |
+
+

include/checkState.h

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+#ifndef CHECKSTATE_H
+#define CHECKSTATE_H
+
+#include "functions.h"
+#include "defs.h"
+
+// variable for detected apogee height
+float MAX_ALTITUDE = 0;
+
+// This checks that we have started ascent
+// If we have a positive 20 metres displacement upwards
+int checkInPoweredFlight(float altitude)
+{
+  float displacement = altitude - BASE_ALTITUDE;
+  if (displacement > GROUND_STATE_DISPLACEMENT)
+  {
+    return POWERED_FLIGHT_STATE;
+  }
+  else
+  {
+    return PRE_FLIGHT_GROUND_STATE;
+  }
+}
+
+// This detects fuel burnout
+// if z-acceleration is less than or equals 2m/s^2
+int checkForBurnOut(float acceleration)
+{
+  if (acceleration <= 2)
+  {
+    return COASTING_STATE;
+  }
+  else
+  {
+    return POWERED_FLIGHT_STATE;
+  }
+}
+
+// This checks that we have reached apogee
+// At apogee velocity is zero so we check for velocity less than or equal to zero
+// As redundancy we check if previous altitude is greater than current altitude
+int checkForApogee(float velocity, float currentAltitude, float previousAltitude)
+{
+  if (currentAltitude < previousAltitude)
+  {
+
+    MAX_ALTITUDE = currentAltitude;
+    return BALLISTIC_DESCENT_STATE;
+  }
+  else if (velocity <= 0)
+  {
+    MAX_ALTITUDE = currentAltitude;
+    return BALLISTIC_DESCENT_STATE;
+  }
+  else
+  {
+    return COASTING_STATE;
+  }
+}
+
+// Deploys parachute if we moved down 20 metres below apogee
+int deployChute(float altitude)
+{
+  float displacement = MAX_ALTITUDE - altitude;
+  if (displacement > BELOW_APOGEE_LEVEL_DISPLACEMENT)
+  {
+    // Fires ejection charge
+    ejection();
+    return CHUTE_DESCENT_STATE;
+  }
+  else
+  {
+    return BALLISTIC_DESCENT_STATE;
+  }
+}
+
+// This checks that we have reached the ground
+// detects landing of the rocket
+// TODO: BASE_ALTITUDE might be different from the original base altitude
+int checkGround(float altitude)
+{
+  float displacement = altitude - BASE_ALTITUDE;
+  if (displacement < GROUND_STATE_DISPLACEMENT)
+  {
+    return POST_FLIGHT_GROUND_STATE;
+  }
+  else
+  {
+    return CHUTE_DESCENT_STATE;
+  }
+}
+
+// Updates the state-machine state
+// We check if rocket has launched to move from PRE_FLIGHT_GROUND_STATE to POWERED_FLIGHT_STATE
+// We check if fuel has been burnt completely to move to COASTING_STATE
+// We check if we have reached apogee to move to BALLISTIC_DESCENT_STATE
+// We deploy parachute to move to CHUTE_DESCENT_STATE
+// We check if we have reached the ground to move to POST_FLIGHT_GROUND_STATE
+int checkState(float currentAltitude, float previousAltitude, float velocity, float acceleration, int state)
+{
+  switch (state)
+  {
+  case PRE_FLIGHT_GROUND_STATE:
+    return checkInPoweredFlight(currentAltitude);
+  case POWERED_FLIGHT_STATE:
+    return checkForBurnOut(acceleration);
+  case COASTING_STATE:
+    return checkForApogee(velocity, currentAltitude, previousAltitude);
+  case BALLISTIC_DESCENT_STATE:
+    return deployChute(currentAltitude);
+  case CHUTE_DESCENT_STATE:
+    return checkGround(currentAltitude);
+  case POST_FLIGHT_GROUND_STATE:
+    return POST_FLIGHT_GROUND_STATE;
+  default:
+    return checkInPoweredFlight(currentAltitude);
+  }
+}
+
+#endif

include/defs.h

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+#ifndef DEFINITIONS_H
+#define DEFINITIONS_H
+
+#include <WiFi.h>
+#include <PubSubClient.h>
+#include <Wire.h>
+
+#define DEBUG 1
+#if DEBUG == 1
+#define debug(x) Serial.print(x)
+#define debugln(x) Serial.println(x)
+#define debugf(x, y) Serial.printf(x, y)
+#else
+#define debug(x)
+#define debugln(x)
+#define debugf(x, y)
+#endif
+
+#define SEA_LEVEL_PRESSURE 102400
+
+// Timing delays
+#define SETUP_DELAY 5000
+
+#define SHORT_DELAY 10
+
+#define BAUD_RATE 115200
+
+#define GPS_BAUD_RATE 9600
+
+#define SD_CS_PIN 5
+
+// Pin to start ejection charge
+#define EJECTION_PIN 4
+
+const uint8_t GPS_TX_PIN = 17;
+const uint8_t GPS_RX_PIN = 16;
+
+const BaseType_t pro_cpu = 0;
+const BaseType_t app_cpu = 1;
+
+const char *ssid = "S7 edge";
+const char *password = "almg76061";
+
+// MQTT Broker IP address
+const char *mqtt_server = "192.168.43.133";
+
+const int MQQT_PORT = 1883;
+
+WiFiClient espClient;
+PubSubClient client(espClient);
+
+extern float BASE_ALTITUDE;
+extern float MAX_ALTITUDE;
+
+const int PRE_FLIGHT_GROUND_STATE = 0;
+const int POWERED_FLIGHT_STATE = 1;
+const int COASTING_STATE = 2;
+const int BALLISTIC_DESCENT_STATE = 3;
+const int CHUTE_DESCENT_STATE = 4;
+const int POST_FLIGHT_GROUND_STATE = 5;
+
+const int GROUND_STATE_DISPLACEMENT = 20;
+const int BELOW_APOGEE_LEVEL_DISPLACEMENT = 20;
+
+// This struct is used to save all our datapoints.
+// It includes rocket altitude, accelerations in the x, y and z directions
+// Gryroscope values in the x, y and z direcion
+// filtered altitude, velocity and acceleration
+// GPS longitude, laltitude and altitude and state
+struct LogData
+{
+    uint64_t timeStamp;
+    float altitude;
+    float ax;
+    float ay;
+    float az;
+    float gx;
+    float gy;
+    float gz;
+    float filtered_s;
+    float filtered_v;
+    float filtered_a;
+    int state;
+    float latitude;
+    float longitude;
+    float gpsAltitude;
+};
+// SensorReadings contains the measurement we are getting
+// from the sensors bmp and mpu
+struct SensorReadings
+{
+    float altitude;
+    float ax;
+    float ay;
+    float az;
+    float gx;
+    float gy;
+    float gz;
+};
+// GPSReadings contains the gps informations that is
+// latitude, longitude, speed, number of satellites and altitude
+struct GPSReadings
+{
+    float latitude;
+    float longitude;
+    float speed;
+    int satellites;
+    float altitude;
+};
+
+// FilteredValues contains filtered values from the kalman filter
+struct FilteredValues
+{
+    float displacement;
+    float velocity;
+    float acceleration;
+};
+// SendValues contains the data points we will be sending over lora
+struct SendValues
+{
+    uint64_t timeStamp;
+    float altitude;
+    uint16_t state;
+    float latitude;
+    float longitude;
+};
+
+#endif

include/functions.h

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+#ifndef FUNCTIONS_H
+#define FUNCTIONS_H
+
+#include "defs.h"
+#include "readsensors.h"
+
+void ejection();
+void ejectionTimerCallback(TimerHandle_t ejectionTimerHandle);
+
+// formats data that we are going to save to SD card
+// We save all the data points we are collecting
+struct LogData formart_SD_data(SensorReadings readings, FilteredValues filtered_values)
+{
+  struct LogData ld = {0};
+  ld.altitude = readings.altitude;
+  ld.ax = readings.ax;
+  ld.ay = readings.ay;
+  ld.az = readings.az;
+  ld.gx = readings.gx;
+  ld.gy = readings.gy;
+  ld.gz = readings.gz;
+  ld.filtered_s = filtered_values.displacement;
+  ld.filtered_a = filtered_values.acceleration;
+  ld.filtered_v = filtered_values.velocity;
+  return ld;
+}
+
+// formart_send_data This formats data we are going to send over LoRa
+// Currently we are sending altitude, state, timeStamp, longitude and latitude
+struct SendValues formart_send_data(LogData readings)
+{
+  struct SendValues sv = {0};
+  sv.altitude = readings.altitude;
+  sv.state = readings.state;
+  sv.timeStamp = readings.timeStamp;
+  sv.latitude = readings.latitude;
+  sv.longitude = readings.longitude;
+  return sv;
+}
+
+// get_base_altitude Finds the average of the current altitude from 100 readings
+float get_base_altitude()
+{
+  float altitude = 0;
+  SensorReadings readings;
+  for (int i = 0; i < 100; i++)
+  {
+    readings = get_readings();
+    altitude = altitude + readings.altitude;
+  }
+  altitude = altitude / 100.0;
+  debugf("Base Altitude is %.3f\n", altitude);
+  return altitude;
+}
+#endif