Merge branch 'MIDAS-MK2.1-Legacy-GNC-EKF' of https://github.com/ISSUIUC/MIDAS-Software into MIDAS-MK2.1-Legacy-GNC-EKF

Author: divijgarg

.gitignore

@@ -2,3 +2,4 @@
 .vscode/
 outputs/*
 ground/outputs/*
+MIDAS/src/esp_eeprom_checksum.h

MIDAS/platformio.ini

@@ -1,5 +1,5 @@
 [env:mcu_main_sustainer]
-platform = espressif32
+platform = espressif32@6.7.0
 board = esp32-s3-devkitc-1
 ; board = adafruit_feather_esp32s3
 framework = arduino
@@ -19,7 +19,7 @@ lib_deps =
 build_src_filter = +<*> -<silsim/> +<hardware/> -<hilsim>
 
 [env:mcu_main_booster]
-platform = espressif32
+platform = espressif32@6.7.0
 board = esp32-s3-devkitc-1
 ; board = adafruit_feather_esp32s3
 framework = arduino

MIDAS/src/esp_eeprom_checksum.h

@@ -30,6 +30,11 @@ void EKF::initialize(RocketSystems *args)
     for (int i = 0; i < 30; i++)
     {
         Barometer barometer = args->rocket_data.barometer.getRecent();
+        HighGData initial_accelerometer = args->rocket_data.high_g.getRecent();
+        Acceleration accelerations = {
+            .ax = initial_accelerometer.ax,
+            .ay = initial_accelerometer.ay,
+            .az = initial_accelerometer.az};
         sum += barometer.altitude;
     }
 

MIDAS/src/gnc/ekf.cpp

@@ -64,10 +64,10 @@ DECLARE_THREAD(barometer, RocketSystems* arg) {
 
 DECLARE_THREAD(accelerometers, RocketSystems* arg) {
     while (true) {
-        LowGData lowg = arg->sensors.low_g.read();
-        arg->rocket_data.low_g.update(lowg);
-        LowGLSM lowglsm = arg->sensors.low_g_lsm.read();
-        arg->rocket_data.low_g_lsm.update(lowglsm);
+        // LowGData lowg = arg->sensors.low_g.read();
+        // arg->rocket_data.low_g.update(lowg);
+        // LowGLSM lowglsm = arg->sensors.low_g_lsm.read();
+        // arg->rocket_data.low_g_lsm.update(lowglsm);
         HighGData highg = arg->sensors.high_g.read();
         arg->rocket_data.high_g.update(highg);
 
@@ -373,13 +373,13 @@ DECLARE_THREAD(telemetry, RocketSystems* arg) {
  */
 ErrorCode init_systems(RocketSystems& systems) {
     gpioDigitalWrite(LED_ORANGE, HIGH);
-    INIT_SYSTEM(systems.sensors.low_g);
+    // INIT_SYSTEM(systems.sensors.low_g);
     INIT_SYSTEM(systems.sensors.orientation);
     INIT_SYSTEM(systems.log_sink);
     INIT_SYSTEM(systems.sensors.high_g);
-    INIT_SYSTEM(systems.sensors.low_g_lsm);
+    // INIT_SYSTEM(systems.sensors.low_g_lsm);
     INIT_SYSTEM(systems.sensors.barometer);
-    INIT_SYSTEM(systems.sensors.magnetometer);
+    // INIT_SYSTEM(systems.sensors.magnetometer);
     INIT_SYSTEM(systems.sensors.continuity);
     INIT_SYSTEM(systems.sensors.voltage);
     INIT_SYSTEM(systems.sensors.pyro);
@@ -422,7 +422,7 @@ ErrorCode init_systems(RocketSystems& systems) {
     START_THREAD(gps, SENSOR_CORE, config, 8);
     START_THREAD(voltage, SENSOR_CORE, config, 9);
     START_THREAD(pyro, SENSOR_CORE, config, 14);
-    START_THREAD(magnetometer, SENSOR_CORE, config, 11);
+    // START_THREAD(magnetometer, SENSOR_CORE, config, 11);
     START_THREAD(cam, SENSOR_CORE, config, 16);
     START_THREAD(kalman, SENSOR_CORE, config, 7);
     START_THREAD(fsm, SENSOR_CORE, config, 8);