Normal <-> Payload Auto Switch #145
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Co-authored-by: Copilot <[email protected]>
Co-authored-by: Copilot <[email protected]>
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Pull request overview
This PR implements automatic low-voltage protection for payload mode with debounced monitoring, along with a refactored mode enumeration scheme that enforces sequential transitions. The implementation adds voltage monitoring at 1Hz with a 10-second debounce window, automatically exiting payload mode when voltage drops below 7.2V or becomes invalid. The mode enum values have been reordered (SAFE_MODE=1, NORMAL=2, PAYLOAD_MODE=3) to support a +1/-1 sequential transition pattern, preventing direct jumps between non-adjacent modes.
Key changes:
- Debounced low-voltage monitoring with automatic payload mode exit after 10 consecutive fault readings
- Sequential mode transition enforcement (PAYLOAD→NORMAL→SAFE, no direct PAYLOAD→SAFE)
- Differential power management: manual exit preserves face switches ON, automatic exit sheds all loads
- Comprehensive integration test suite with 7 tests (6 automated, 1 manual)
Reviewed changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 18 comments.
Show a summary per file
| File | Description |
|---|---|
Makefile |
Adds TEST parameter for selective test execution with pattern matching |
README.md |
Documents single test file execution using TEST variable |
FprimeZephyrReference/test/int/payload_mode_test.py |
New comprehensive integration test suite covering payload mode entry/exit, validation, state persistence, voltage monitoring, and load switch behavior |
FprimeZephyrReference/test/int/mode_manager_test.py |
Updates mode enum values (0→2 for NORMAL, adds PAYLOAD=3) and adjusts test expectations for idempotent behavior |
FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi |
Adds PayloadModeEntryCount telemetry to health packet |
FprimeZephyrReference/Components/ModeManager/docs/sdd.md |
Comprehensive documentation update with requirements, sequence diagrams, load switch mapping, low-voltage thresholds, and integration test descriptions |
FprimeZephyrReference/Components/ModeManager/ModeManager.hpp |
Adds payload mode command handlers, helper methods, low-voltage counter, and voltage threshold constants |
FprimeZephyrReference/Components/ModeManager/ModeManager.fpp |
Defines reordered enum, new commands (ENTER/EXIT_PAYLOAD_MODE), events (EnteringPayloadMode, AutoPayloadModeExit), and PayloadModeEntryCount telemetry |
FprimeZephyrReference/Components/ModeManager/ModeManager.cpp |
Implements 1Hz voltage monitoring, debouncing logic, payload mode transitions, separate face/payload load switch control, and persistent state handling |
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Pull request overview
Copilot reviewed 9 out of 9 changed files in this pull request and generated 5 comments.
Comments suppressed due to low confidence (1)
FprimeZephyrReference/test/int/payload_mode_test.py:72
- 'except' clause does nothing but pass and there is no explanatory comment.
except Exception:
Copilot finished reviewing on behalf of
yudataguy
November 29, 2025 18:57
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Automatic switch between Normal and Payload mode
Description
Added debounced low-voltage protection in payload mode: invalid/low readings for 10s trigger AutoPayloadModeExit event, drop to NORMAL, and shed all load switches; re-entry now powers all loads to ensure consistent state; manual exit leaves faces on.
Updated integration tests for payload behavior (manual exit power state, voltage monitoring sanity) plus manual low-voltage test coverage; documented new behavior and thresholds in ModeManager SDD.
Next: Automatic mode switch between
normalandsafeRelated Issues/Tickets
#106
#141 should be merged first before this PR
How Has This Been Tested?
Test maybe an issue due to I don't have battery that's in good condition right now, top loader incoming next week.
Screenshots / Recordings (if applicable)
Checklist
Further Notes / Considerations