aerovironment-updates

include/board.h

@@ -70,45 +70,49 @@ class Board
   virtual void sensors_init() = 0;
   virtual uint16_t num_sensor_errors() = 0;
 
-  virtual bool new_imu_data() = 0;
+  // IMU
+  //virtual bool new_imu_data() = 0;
+  virtual uint8_t imu_has_new_data() = 0;
   virtual bool imu_read(float accel[3], float *temperature, float gyro[3], uint64_t *time) = 0;
   virtual void imu_not_responding_error() = 0;
 
+  // Mag
   virtual bool mag_present() = 0;
-  virtual void mag_update() = 0;
-  virtual void mag_read(float mag[3]) = 0;
+  virtual uint8_t mag_has_new_data() = 0;
+  virtual bool mag_read(float mag[3]) = 0;
 
+  // Baro
   virtual bool baro_present() = 0;
-  virtual void baro_update() = 0;
-  virtual void baro_read(float *pressure, float *temperature) = 0;
+  virtual uint8_t baro_has_new_data() = 0;
+  virtual bool baro_read(float *pressure, float *temperature) = 0;
 
+  // Pitot
   virtual bool diff_pressure_present() = 0;
-  virtual void diff_pressure_update() = 0;
-  virtual void diff_pressure_read(float *diff_pressure, float *temperature) = 0;
+  virtual uint8_t diff_pressure_has_new_data() = 0;
+  virtual bool diff_pressure_read(float *diff_pressure, float *temperature) = 0;
 
+  // Sonar
   virtual bool sonar_present() = 0;
-  virtual void sonar_update() = 0;
-  virtual float sonar_read() = 0;
+  virtual uint8_t sonar_has_new_data() = 0;
+  virtual bool sonar_read(float *range) =0;
 
+  // GPS
   virtual bool gnss_present() = 0;
-  virtual void gnss_update() = 0;
+  virtual uint8_t gnss_has_new_data() = 0;
+  virtual bool gnss_read( GNSSData *gnss, GNSSFull *gnss_full) = 0;
 
-  virtual GNSSData gnss_read() = 0;
-  virtual bool gnss_has_new_data() = 0;
-  virtual GNSSFull gnss_full_read() = 0;
-
-  virtual bool battery_voltage_present() const = 0;
-  virtual float battery_voltage_read() const = 0;
+  // Battery
+  virtual bool battery_present()  = 0;
+  virtual uint8_t battery_has_new_data()  = 0;  
+  virtual bool battery_read(float *voltage, float* current)  = 0;
   virtual void battery_voltage_set_multiplier(double multiplier) = 0;
-
-  virtual bool battery_current_present() const = 0;
-  virtual float battery_current_read() const = 0;
   virtual void battery_current_set_multiplier(double multiplier) = 0;
 
   // RC
   virtual void rc_init(rc_type_t rc_type) = 0;
   virtual bool rc_lost() = 0;
-  virtual float rc_read(uint8_t channel) = 0;
+  virtual uint8_t rc_has_new_data() = 0;
+  virtual float rc_read(uint8_t chan) = 0;
 
   // PWM
   virtual void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) = 0;

include/comm_manager.h

@@ -32,11 +32,11 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 #define ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 
+#define OLD_STREAMING 0	// PTT don't include old streaming junk
+
 #include "interface/comm_link.h"
 #include "interface/param_listener.h"
 
-#include "nanoprintf.h"
-
 #include <cstdint>
 #include <functional>
 
@@ -162,6 +162,7 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
 
   void send_next_param(void);
 
+#if OLD_STREAMING //PTT not used anymore
   Stream streams_[STREAM_COUNT] = {
       Stream(0, [this] { this->send_heartbeat(); }),      Stream(0, [this] { this->send_status(); }),
       Stream(0, [this] { this->send_attitude(); }),       Stream(0, [this] { this->send_imu(); }),
@@ -170,7 +171,7 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
       Stream(0, [this] { this->send_battery_status(); }), Stream(0, [this] { this->send_output_raw(); }),
       Stream(0, [this] { this->send_gnss(); }),           Stream(0, [this] { this->send_gnss_full(); }),
       Stream(0, [this] { this->send_rc_raw(); }),         Stream(20000, [this] { this->send_low_priority(); })};
-
+#endif
   // the time of week stamp for the last sent GNSS message, to prevent re-sending
   uint32_t last_sent_gnss_tow_ = 0;
   uint32_t last_sent_gnss_full_tow_ = 0;
@@ -181,9 +182,11 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
   void init();
   void param_change_callback(uint16_t param_id) override;
   void receive(void);
-  void stream();
+  void stream(got_flags got);
   void send_param_value(uint16_t param_id);
+#if OLD_STREAMING // PTT streaming rates are read only
   void set_streaming_rate(uint8_t stream_id, int16_t param_id);
+#endif
   void update_status();
   void log(CommLinkInterface::LogSeverity severity, const char* fmt, ...);
 

include/param.h

@@ -51,21 +51,6 @@ enum : uint16_t
   /*** MAVLINK CONFIGURATION ***/
   /*****************************/
   PARAM_SYSTEM_ID,
-  PARAM_STREAM_HEARTBEAT_RATE,
-  PARAM_STREAM_STATUS_RATE,
-
-  PARAM_STREAM_ATTITUDE_RATE,
-  PARAM_STREAM_IMU_RATE,
-  PARAM_STREAM_MAG_RATE,
-  PARAM_STREAM_BARO_RATE,
-  PARAM_STREAM_AIRSPEED_RATE,
-  PARAM_STREAM_SONAR_RATE,
-  PARAM_STREAM_GNSS_RATE,
-  PARAM_STREAM_GNSS_FULL_RATE,
-  PARAM_STREAM_BATTERY_STATUS_RATE,
-
-  PARAM_STREAM_OUTPUT_RAW_RATE,
-  PARAM_STREAM_RC_RAW_RATE,
 
   /********************************/
   /*** CONTROLLER CONFIGURATION ***/
@@ -378,4 +363,14 @@ class Params
 
 } // namespace rosflight_firmware
 
+#ifndef GIT_VERSION_HASH
+#define GIT_VERSION_HASH 0x00
+//#pragma message "GIT_VERSION_HASH Undefined, setting to 0x00!"
+#endif
+#ifndef GIT_VERSION_STRING
+#define GIT_VERSION_STRING "empty"
+//#pragma message "GIT_VERSION_STRING Undefined, setting to \"empty\"!"
+#endif
+
+
 #endif // ROSFLIGHT_FIRMWARE_PARAM_H

include/rc.h

@@ -93,7 +93,7 @@ class RC : public ParamListenerInterface
   uint32_t time_of_last_stick_deviation = 0;
   uint32_t time_sticks_have_been_in_arming_position_ms = 0;
   uint32_t prev_time_ms = 0;
-  uint32_t last_rc_receive_time = 0;
+ // uint32_t last_rc_receive_time = 0;
 
   rc_stick_config_t sticks[STICKS_COUNT];
   rc_switch_config_t switches[SWITCHES_COUNT];

include/sensors.h

@@ -43,6 +43,20 @@
 
 namespace rosflight_firmware
 {
+
+typedef struct
+{
+  uint8_t imu;
+  uint8_t gnss;
+  uint8_t gnss_full;
+  uint8_t baro;
+  uint8_t mag;
+  uint8_t diff_pressure;
+  uint8_t sonar;
+  uint8_t battery;
+  uint8_t rc;
+} got_flags; 
+
 enum GNSSFixType
 {
   GNSS_FIX_TYPE_NO_FIX,
@@ -145,11 +159,11 @@ class Sensors : public ParamListenerInterface
     bool sonar_range_valid = false;
 
     GNSSData gnss_data;
-    bool gnss_new_data = false;
+    GNSSFull gnss_full;
+//   bool gnss_new_data = false;
     float gps_CNO = 0; // What is this?
     bool gnss_present = false;
-    GNSSFull gnss_full;
-
+
     turbomath::Vector mag = {0, 0, 0};
 
     bool baro_present = false;
@@ -169,7 +183,7 @@ class Sensors : public ParamListenerInterface
 
   // function declarations
   void init();
-  bool run();
+  got_flags run();
   void param_change_callback(uint16_t param_id) override;
 
   // Calibration Functions
@@ -187,6 +201,8 @@ class Sensors : public ParamListenerInterface
       imu_data_sent_ = true;
     return true;
   }
+
+  got_flags got;
 
 private:
   static const float BARO_MAX_CHANGE_RATE;