AACS

Advanced Avionics Control System

Processor : RP2040 (Raspberry Pi Pico W)
OS : FreeRTOS

Sensor Control Interface

Sensor Control Interface

Variables

There are going to be a set of static variables that contain all of the sensor data. These variables are going to be protected using mutexes since they will be continuously updated via the internal sensor reading task and continuously read through the various "public" methods.

I need to do some research on what formats would be good for using the numbers in (i.e. should accelerator data be a double between 1 and -1 or is it better represented as an unsigned or signed int?)

C2 Communication

Documentation for what all the C2 server needs can be found here

UML

sensor_control_interface

- double accelorometer_x;

- double accelorometer_y;

- double accelorometer_z;

- double gyroscope_x;

- double gyroscop_y;

- double gyroscop_z;

- double altitude;

- double heading;

- double us_distance;

- SemaphoreHandle_t mpu_mutex;

- SemaphoreHandle_t bmp_mutex;

- SemaphoreHandle_t qmc_mutex;

- SemaphoreHandle_t hcsr_mutex;

- int sensor_error_count;

+ sensor_control_interface_init(UBaseType_t sensor_task_priority) : : int

+ sensor_control_interface_get_accelorometer_x() : : double

+ sensor_control_interface_get_accelorometer_y() : : double

+ sensor_control_interface_get_accelorometer_z() : : double

+ sensor_control_interface_set_accelorometer_x(double _x) : : void

+ sensor_control_interface_set_accelorometer_y(double _x) : : void

+ sensor_control_interface_set_accelorometer_z(double _z) : : void

+ sensor_control_interface_accelerometer_activate() : : int

+ sensor_control_interface_accelerometer_deactivate() : : int

+ sensor_control_interface_get_gyroscope_x() : : double

+ sensor_control_interface_get_gyroscope_y() : : double

+ sensor_control_interface_get_gyroscope_z() : : double

+ sensor_control_interface_set_gyroscope_x(double _x) : : void

+ sensor_control_interface_set_gyroscope_y(double _x) : : void

+ sensor_control_interface_set_gyroscope_z(double _z) : : void

+ sensor_control_interface_gyroscope_activate() : : int

+ sensor_control_interface_gyroscope_deactivate() : : int

+ sensor_control_interface_get_altimeter_altitude() : : double

+ sensor_control_interface_set_altimeter_altitude(double _altitude) : : int

+ sensor_control_interface_altimeter_activate() : : int

+ sensor_control_interface_altimeter_deactivate() : : int

+ sensor_control_interface_get_compass_heading() : : double

+ sensor_control_interface_set_compass_heading(double _heading) : : int

+ sensor_control_interface_compass_activate() : : int

+ sensor_control_interface_compass_deactivate() : : int

+ sensor_control_interface_get_ultrasonic_distance() : : double

+ sensor_control_interface_set_ultrasonic_distance(double _distance) : : int

+ sensor_control_interface_ultrasonic_activate() : : int

+ sensor_control_interface_ultrasonic_deactivate() : : int

+ sensor_control_interface_reset_mpu_6050() : : int

+ sensor_control_interface_reset_bmp_280() : : int

+ sensor_control_interface_reset_qmc _5883l() : : int

+ sensor_control_interface_reset_hc_sr04() : : int

+ sensor_control_interface_task() : : int

Public Methods

General

sensor_control_interface_init

Accelerometer

Getters:
sensor_control_interface_get_accelerometer_x
sensor_control_interface_get_accelerometer_y
sensor_control_interface_get_accelerometer_z
Setters:
sensor_control_interface_set_accelerometer_x
sensor_control_interface_set_accelerometer_y
sensor_control_interface_set_accelerometer_z
Activators:
sensor_control_interface_accelerometer_activate
sensor_control_interface_accelerometer_deactivate

Gyroscope

Getters:
sensor_control_interface_get_gyroscope_x
sensor_control_interface_get_gyroscope_y
sensor_control_interface_get_gyroscope_z
Setters:
sensor_control_interface_set_gyroscope_x
sensor_control_interface_set_gyroscope_y
sensor_control_interface_set_gyroscope_z
Activators:
sensor_control_interface_gyroscope_activate
sensor_control_interface_gyroscope_deactivate

Altimeter

Getters:
sensor_control_interface_get_altimeter_altitude
Setters:
sensor_control_interface_set_altimeter_altitude
Activators:
sensor_control_interface_altimeter_activate
sensor_control_interface_altimeter_deactivate

Compass

Getters:
sensor_control_interface_get_compass_heading
Setters:
sensor_control_interface_set_compass_heading
Activators:
sensor_control_interface_compass_activate
sensor_control_interface_compass_deactivate

Ultrasonic

Getters:
sensor_control_interface_get_ultrasonic_distance
Setters:
sensor_control_interface_set_ultrasonic_distance
Activators:
sensor_control_interface_ultrasonic_activate
sensor_control_interface_ultrasonic_deactivate

Internal Methods

Threading

sensor_control_interface_task

Error Handling

sensor_control_interface_reset_mpu_6050
sensor_control_interface_reset_bmp_280
sensor_control_interface_reset_qmc _5883l
sensor_control_interface_reset_hc_sr04

Actuator Control Interface

Actuator Control Interface

Diagrams

int calculatePowerChange(int currentPower, int targetPower, int rateOfChange) {
    // Ensure rateOfChange is within the valid range (1-100)
    rateOfChange = max(1, min(100, rateOfChange));

    // Calculate the remaining difference between currentPower and targetPower
    int remainingDifference = targetPower - currentPower;

    // Calculate the adder/subtractor for the given rate of change
    int change = (remainingDifference * rateOfChange) / 100;

    // Ensure a minimum change to prevent very slow transitions
    change = max(change, MIN_CHANGE);  // Adjust MIN_CHANGE as needed

    return change;
}

C2 Communication

Documentation for what all the C2 server needs can be found here

Master Control Interface

The master_control_interface is responsible for high level control over the UAV.

C2 Communication

Documentation for what all the C2 server needs can be found here