Controller Module Header File #34
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Have you looked at the embedded coding standard yet https://docs.waterloorocketry.com/general/standards/embedded-coding-standard.html |
| float timestamp; // Timestamp in ms | ||
| } controller_state_t; | ||
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| // Output of controller to be sent to servo via CAN |
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// Output of controller to be sent to servo motor controller board via CAN
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Attitude is a 4 vector with the quaternions q0 - q3.
State vector also includes canard coefficient CL, and canard angle delta, which are both states
| * @param output Pointer to store output -> type defined in state_estimation.h | ||
| * @return false if no output available | ||
| */ | ||
| bool Controller_Get_Latest_Output(control_output_SE_t *output); |
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Make sure state_estimation.h correctly defines control_output_SE_t
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added some comments in the google doc
@Joe-Joe-Joe-Joe @FinnBreu can u guys also review the design in the google doc?
| float actual_angle; // Current angle | ||
| uint32_t timestamp; // Timestamp | ||
| uint32_t servo_id; // Servo identifier | ||
| } controller_can_output_t; |
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this is an internal thing right? does it need to be exposed in this .h
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Comments in the gdoc |
| #include <stdbool.h> | ||
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| /* Enums/Types */ | ||
| typedef struct { |
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I recommend a union for this. See https://github.com/xioTechnologies/Fusion/blob/main/Fusion/FusionMath.h
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#41
im gonna make vectors a common project-wide type
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#44
pls use the project-wide vector type and lmk if the common types need changes
| #define CONTROLLER_H_ | ||
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| #include "FreeRTOS.h" | ||
| #include "state_estimation.h" |
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should be "application/estimator/estimator.h"
| * Must be called before RTOS scheduler starts | ||
| * @return true if initialization successful | ||
| */ | ||
| bool controller_init(void); |
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All the bools here should be replaced with w_status_t and include "rocketlib/include/common.h"
| // 2.1 Gain table and flight conditions would go here (not shown) | ||
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| // 2.2 Controller initialization with memory checks | ||
| float* g0 = (float*)malloc(sizeof(float)); |
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why are we dynamically allocating all theese variables?
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Added header file for controller modules