State Estimations & Telemetry Updates

.github/workflows/codeql.yml

@@ -10,15 +10,15 @@
 # supported CodeQL languages.
 #
 name: "CodeQL Advanced"
-
+ 
 on:
   push:
-    branches: [ "main" ]
+    branches: [ "main", "integration/**" ]
   pull_request:
-    branches: [ "main" ]
+    branches: [ "main", "integration/**" ]
   schedule:
     - cron: '41 0 * * 1'
-
+ 
 jobs:
   analyze:
     name: Analyze (${{ matrix.language }})
@@ -27,18 +27,18 @@ jobs:
     #   - https://gh.io/supported-runners-and-hardware-resources
     #   - https://gh.io/using-larger-runners (GitHub.com only)
     # Consider using larger runners or machines with greater resources for possible analysis time improvements.
-    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    runs-on: ubuntu-latest
     permissions:
       # required for all workflows
       security-events: write
-
+ 
       # required to fetch internal or private CodeQL packs
       packages: read
-
+ 
       # only required for workflows in private repositories
       actions: read
       contents: read
-
+ 
     strategy:
       fail-fast: false
       matrix:
@@ -60,15 +60,26 @@ jobs:
       uses: actions/checkout@v6
       with:
         submodules: 'recursive'
-
+ 
     # Add any setup steps before running the `github/codeql-action/init` action.
     # This includes steps like installing compilers or runtimes (`actions/setup-node`
     # or others). This is typically only required for manual builds.
-    # - name: Setup runtime (example)
-    #   uses: actions/setup-example@v1
-
-    # Initializes the CodeQL tools for scanning.
+    - name: Check out firmware compiler
+      if: matrix.language == 'c-cpp'
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '13.3.Rel1' # <-- The compiler release to use
+    - name: Check out X11 tools for emulator build
+      if: matrix.language == 'c-cpp'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libx11-dev libxcursor-dev libxrandr-dev libxinerama-dev libxcb-xinput-dev libxi-dev
+
+    # ------------------------------------------------------------------
+    # Non-c-cpp languages (e.g. 'actions'): single init / build / analyze
+    # ------------------------------------------------------------------
     - name: Initialize CodeQL
+      if: matrix.language != 'c-cpp'
       uses: github/codeql-action/init@v4
       with:
         languages: ${{ matrix.language }}
@@ -79,33 +90,91 @@ jobs:
         # If you wish to specify custom queries, you can do so here or in a config file.
         # By default, queries listed here will override any specified in a config file.
         # Prefix the list here with "+" to use these queries and those in the config file.
-
+ 
         # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
         # queries: security-extended,security-and-quality
-    - name: Check out firmware compiler
-      uses: carlosperate/arm-none-eabi-gcc-action@v1
+
+    - name: Perform CodeQL Analysis
+      if: matrix.language != 'c-cpp'
+      uses: github/codeql-action/analyze@v4
       with:
-        release: '13.3.Rel1' # <-- The compiler release to use
-
-    # If the analyze step fails for one of the languages you are analyzing with
-    # "We were unable to automatically build your code", modify the matrix above
-    # to set the build mode to "manual" for that language. Then modify this step
-    # to build your code.
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
-    - name: Run manual build steps
-      if: matrix.build-mode == 'manual'
+        category: "/language:${{matrix.language}}"
+
+    # ------------------------------------------------------------------
+    # c-cpp: split into three databases/categories so rev2, rev3, and the
+    # emulator build show up as separate results in code scanning instead
+    # of being merged into a single combined database.
+    # ------------------------------------------------------------------
+
+    # --- rev2 release build ---
+    - name: Initialize CodeQL (rev2 release)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+
+    - name: Build rev2 release
+      if: matrix.language == 'c-cpp'
       shell: bash
       run: |
-        # Release Build
         cd app/rev2
         make DEBUG=0
-
-        # Rev 3 Test App (drivers)
-        cd ../rev3
+
+    - name: Analyze rev2 release
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/analyze@v4
+      with:
+        category: "/language:c-cpp/rev2"
+
+    # --- rev3 test app (drivers) ---
+    - name: Initialize CodeQL (rev3)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+
+    - name: Build rev3 test app
+      if: matrix.language == 'c-cpp'
+      shell: bash
+      run: |
+        cd app/rev3
         make
-
-    - name: Perform CodeQL Analysis
+
+    - name: Analyze rev3
+      if: matrix.language == 'c-cpp'
       uses: github/codeql-action/analyze@v4
       with:
-        category: "/language:${{matrix.language}}"
+        category: "/language:c-cpp/rev3"
+
+    # --- emulator build ---
+    - name: Initialize CodeQL (emulator)
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/init@v4
+      with:
+        languages: c-cpp
+        build-mode: manual
+        config: |
+          paths-ignore:
+            - auto
+
+    - name: Build emulator
+      if: matrix.language == 'c-cpp'
+      shell: bash
+      run: |
+        cd app/rev2
+        make clean
+        make emulator
+
+    - name: Analyze emulator
+      if: matrix.language == 'c-cpp'
+      uses: github/codeql-action/analyze@v4
+      with:
+        category: "/language:c-cpp/emulator"

.github/workflows/test-runner.yml

@@ -18,7 +18,7 @@ on:
 permissions:
   contents: read
 jobs:
-  unit-tests:
+  app-unit-tests:
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -63,6 +63,51 @@ jobs:
         run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
       - run: echo "🍏 This job's status is ${{ job.status }}."
 
+  driver-unit-tests:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        tests: [gps, servo]
+    steps:
+      - run: echo "🎉 The job was automatically triggered by a ${{ github.event_name }} event."
+      - run: echo "🐧 This job is now running on a ${{ runner.os }} server hosted by GitHub!"
+      - run: echo "🔎 The name of your branch is ${{ github.ref }}."
+      - name: Install test environment
+        run: |
+          python -m pip install --upgrade pip
+          pip install gcovr
+      - name: Check out FCF repository code
+        uses: actions/checkout@v6
+        with:
+          ref: ${{ github.event.inputs.fw-branch || github.ref }}
+          submodules: 'recursive'
+      - run: echo "💡 The repository has been cloned to the runner."
+      - run: echo "🖥️ The workflow is now ready to test your code on the runner."
+      - name: List files in the repository
+        run: |
+          ls ${{ github.workspace }}
+
+      - name: Build and run the appa/${{ matrix.tests }} tests
+        run: |
+          cd ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}
+          make test
+      - name: Check for fails.
+        run: |
+          cd ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}
+          tail -3 results.txt | grep "Result: PASS"
+      - name: Consolidate ${{ matrix.tests }} artifacts
+        run: mv ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/results.txt ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/coverage/results.txt
+      - name: "Promote Artifacts"
+        uses: actions/upload-artifact@v6
+        id: promote-results
+        with:
+          name: ${{ matrix.tests }}-artifacts
+          path: ${{ github.workspace }}/driver/_test/driver/${{ matrix.tests }}/coverage/
+          include-hidden-files: true
+      - name: Output artifact ID
+        run: echo 'Artifact ID is ${{ steps.promote-results.outputs.artifact-id }}'
+      - run: echo "🍏 This job's status is ${{ job.status }}."
+
   emulator-tests:
     runs-on: ubuntu-latest
     timeout-minutes: 7
@@ -162,7 +207,7 @@ jobs:
   # Take coverage reports and merge them
   consolidate-coverage:
     runs-on: ubuntu-latest
-    needs: [unit-tests, emulator-tests]
+    needs: [app-unit-tests, driver-unit-tests, emulator-tests]
     steps:
       - name: Install gcovr
         run: |

app/rev2/Makefile

@@ -88,6 +88,7 @@ $(DRIVER_DIR)/ignition/ignition.c                                        \
 $(DRIVER_DIR)/imu/imu.c                                                  \
 $(DRIVER_DIR)/led/led.c                                                  \
 $(DRIVER_DIR)/lora/lora.c                                                  \
+$(DRIVER_DIR)/lora/lora_async.c                                                  \
 $(MOD_DIR)/sensor/sensor.c                                            \
 $(DRIVER_DIR)/usb/usb.c                                                  \
 $(DRIVER_DIR)/gps/gps.c                                                  \
@@ -131,8 +132,11 @@ $(BASE_DIR)/emulator/src/emulator_timer.c							  \
 $(BASE_DIR)/emulator/src/emulator_error.c							  \
 $(BASE_DIR)/emulator/src/emulator_init.c							  \
 $(BASE_DIR)/emulator/src/emulator_gpio.c							  \
+$(BASE_DIR)/emulator/src/emulator_ground_station.c					  \
 $(BASE_DIR)/emulator/src/emulator_uart.c							  \
 $(BASE_DIR)/emulator/src/emulator_spi.c								  \
+$(BASE_DIR)/emulator/src/emulator_lora.c							  \
+$(BASE_DIR)/emulator/src/emulator_serial.c							  \
 $(BASE_DIR)/emulator/src/emulator_i2c.c 							  \
 $(BASE_DIR)/emulator/src/emulator_gui.c								  \
 $(BASE_DIR)/emulator/src/shaders/shaders.c						  	  \

app/rev2/flash_appa.c

@@ -309,7 +309,7 @@ idx = 6;
 if ( preset_data.config_settings.enabled_data & STORE_CONV )
 	{
 	memcpy( &buffer[idx],
-			&sensor_data.imu_data.imu_converted,
+			&sensor_data.imu_converted,
 			sizeof( IMU_CONVERTED ));
 	idx += sizeof( IMU_CONVERTED );
 	memcpy( &buffer[idx], &sensor_data.baro_pressure, sizeof(float));
@@ -321,13 +321,11 @@ if ( preset_data.config_settings.enabled_data & STORE_CONV )
 if ( preset_data.config_settings.enabled_data & STORE_STATE_ESTIM )
 	{
 	memcpy( &buffer[idx],
-			&sensor_data.imu_data.state_estimate,
+			&sensor_data.state_estimate,
 			sizeof( STATE_ESTIMATION ));
 	idx += sizeof( STATE_ESTIMATION );
 	memcpy( &buffer[idx], &sensor_data.baro_alt, sizeof(float));
 	idx += 4;
-	memcpy( &buffer[idx], &sensor_data.baro_velo, sizeof(float));
-	idx += 4;
 	}
 
 if ( preset_data.config_settings.enabled_data & STORE_GPS )
@@ -400,7 +398,7 @@ if ( preset_data.config_settings.enabled_data & STORE_CONV )
 if ( preset_data.config_settings.enabled_data & STORE_STATE_ESTIM )
 	{
 	size += sizeof( STATE_ESTIMATION );
-	size += 2 * sizeof( float ); /* baro alt/velo */
+	size += sizeof( float ); /* baro alt */
 	}
 
 if ( preset_data.config_settings.enabled_data & STORE_GPS )

app/rev2/flight.c

@@ -30,10 +30,12 @@ Includes
 #include <math.h>
 #include "main.h"
 #include "led.h"
+#include "lora.h"
 #include "usb.h"
 #include "math.h"
 #include "sensor.h"
 #include "buzzer.h"
+#include "debug_sdr.h"
 #include "error_sdr.h"
 #include "ignition.h"
 #include "telemetry.h"
@@ -137,6 +139,8 @@ void flight_calib
     uint32_t* flash_address
     )
 {
+LORA_STATUS lora_status = LORA_OK;
+
 led_set_color( LED_YELLOW );
 buzzer_multi_beeps(50, 50, 4);
 
@@ -150,6 +154,28 @@ sensorCalibrationSWCON();
 write_preset( flash_handle, flash_address );
 flash_erase_preserve_preset( flash_handle, flash_address );
 
+if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLED )
+    {
+    if( !lora_is_lora_initialized() )
+        {
+        lora_status = lora_configure( &preset_data.lora_preset );
+        debug_assert( lora_status == LORA_OK, ERROR_LORA_INIT_ERROR );
+        }
+
+    /* If the modem fails to configure, disable TX in RAM (but do not write back to flash) */
+    if( lora_status != LORA_OK )
+        {
+        preset_data.config_settings.enabled_features &= ~WIRELESS_TRANSMISSION_ENABLED;
+
+        /* Give an indication */
+        led_set_color(LED_RED);
+        buzzer_multi_beeps(400, 200, 3);
+        led_set_color(LED_YELLOW);
+        }
+
+    lora_fsm_set_mode( LORA_ASYNC_TX );
+    }
+
 fc_state_update( FC_STATE_LAUNCH_DETECT );
 
 } /* flight_calib */
@@ -202,11 +228,11 @@ if ( ( fc_state == FC_STATE_ASCENT )
 update_state();
 
 /*------------------------------------------------------------------------------
- Update Telemetry FSM                                                            
+ Update LoRa FSM                                                            
 ------------------------------------------------------------------------------*/
 if ( preset_data.config_settings.enabled_features & WIRELESS_TRANSMISSION_ENABLED )
     {
-    telemetry_update( TELEMETRY_EVENT_SYNCHRONOUS_UPDATE );
+    lora_fsm_update( LORA_FSM_EVENT_SYNCHRONOUS_UPDATE );
     }
 
 /*------------------------------------------------------------------------------
@@ -357,8 +383,8 @@ uint8_t max_range_4 = preset_data.servo_preset.rp_servo4 + preset_data.config_se
 uint8_t min_range_4 = preset_data.servo_preset.rp_servo4 - preset_data.config_settings.control_max_deflection_angle;
 
 /* Read velocity and body state from sensor */
-float velocity = sensor_data.imu_data.state_estimate.velocity;
-float roll_rate = sensor_data.imu_data.imu_converted.gyro_x;
+float velocity = sensor_data.state_estimate.velocity;
+float roll_rate = sensor_data.imu_converted.gyro_x;
 
 /* Get timing */
 pid_delta = HAL_GetTick() - pid_previous;