Merge pull request #170 from ISSUIUC/feature/landing-power-save

Add vtx_off after landing lockout expires

Author: mpkarpov-ui

MIDAS/src/finite-state-machines/fsm.cpp

@@ -298,6 +298,11 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla
         case FSMState::STATE_LANDED:
 
             if((current_time - landed_time) > sustainer_landed_time_lockout) {
+                
+                if(!landing_lockout_triggered) {
+                    landing_lockout_triggered = true;
+                    commands.FSM_should_power_save = true;
+                }
 
                 // Check for any telem transitions
                 // Force transtion to safe if requested + clear all transition flags.
@@ -513,6 +518,11 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla
 
             if((current_time - landed_time) > booster_landed_time_lockout) {
 
+                if(!landing_lockout_triggered) {
+                    landing_lockout_triggered = true;
+                    commands.FSM_should_power_save = true;
+                }
+
                 // Check for any telem transitions
                 // Force transtion to safe if requested + clear all transition flags.
                 if(commands.should_transition_safe) {

MIDAS/src/finite-state-machines/fsm.h

@@ -47,4 +47,6 @@ class FSM {
     double landed_time;
     double first_separation_time;
     double pyro_test_entry_time;
+
+    bool landing_lockout_triggered = false;
 };

MIDAS/src/rocket_state.h

@@ -170,6 +170,7 @@ struct CommandFlags {
     bool should_fire_pyro_d = false;            // CommandType::FIRE_PYRO_D
     // FSM Transition commands
     bool FSM_should_set_cam_feed_cam1 = false;  // Triggered at launch (IDLE --> FIRST_BOOST)
+    bool FSM_should_power_save = false;         // Triggered after 60 seconds in LANDED state.
     bool FSM_should_swap_camera_feed = false;   // Triggered COAST --> APOGEE
 };
 /**

MIDAS/src/systems.cpp

@@ -194,6 +194,12 @@ DECLARE_THREAD(fsm, RocketSystems* arg) {
             arg->b2b.camera.camera_on(BULKHEAD_CAMERA);
         }
 
+        if(arg->rocket_data.command_flags.FSM_should_power_save) {
+            arg->rocket_data.command_flags.FSM_should_power_save = false;
+
+            arg->b2b.camera.vtx_off();
+        }
+
         if(arg->rocket_data.command_flags.FSM_should_swap_camera_feed) { 
             // Swap camera feed to MUX 2 (recovery bay camera)
             arg->rocket_data.command_flags.FSM_should_swap_camera_feed = false;