Update FSM #40
Update FSM #40
Conversation
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I have some questions about the
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It seems that in the ERROR ON GROUND part of the Wiki FSM we are missing a 'from' row as in the diagram we can go to the error on ground state from the armed state. |
this is correct please add it to this PR |
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I updated the wiki : https://rocket-team.epfl.ch/en/competition/firehorn/avionics/2024_C_AV_FINITE-STATE-MACHINE |
| uint32_t norm_squared (){ | ||
| return x*x + y*y + z*z; | ||
| } | ||
| }; |
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Where are those helper functions used ? If we only need the norm in the FSM or high level modules, then it might be better to implement this function in the Vector3 struct in data.h/cpp. Also as it is a common function to any 3D data, implementing it only once would be better. Also why the need of an uint32_t return type ?
the tests will be in another branch
# Conflicts: # tests/CMakeLists.txt
# Conflicts: # src/flight_control/av_state.cpp # tests/AvState_test.cpp # tests/CMakeLists.txt
| adxl2.calibrate(); | ||
| } | ||
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| double Vector3::norm() const { |
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Why defining this in a different TU than its declaration ? Might be better to define in data.cpp, or even consider making it inline in data.h, as it is a helper function of Vector3.
Also, if used only for comparison, no need to get the sqrt, we can compare it with squared thresholds to avoid this heavy instruction. (Req FSM frequency >= 100Hz).
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| // Initial state should be INIT | ||
| fsm.update(dump); | ||
| assert(fsm.getCurrentState() == State::INIT); |
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Yes, check first after constructor call, but might also be good to check after the first fsm.update() the state remains INIT.
| { | ||
| return State::READY; | ||
| } | ||
| return State::ARMED; |
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These conditions overall need some correction. The switch over the telemetry_cmd.id seems deprecated.
The transition ARMED->READY is OK for the moment but will later be determined by the feedback from DPR boards (PR tanks pressure regulators).
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To be clear we don't verify the tanks, we just get the go from DPR ?
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Yes, once we receive PRESSURIZE command from GS and we send PRESSURIZE to the DPRs, we wait for their GO
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The goal of this PR is to implement the Finite State Machine in the
AVState.cppfile to match the description provided in the ERT Wiki