State Estimations & Telemetry Updates

commands/commands.c

@@ -165,29 +165,19 @@ void dashboard_construct_dump
     DASHBOARD_DUMP_TYPE* dump_buffer_ptr /* must be DASHBOARD_DUMP_SIZE */
     )
 {
-
-/* IMU (6 axes) */
-memcpy( dump_buffer_ptr,
-    &(sensor_data.imu_data.imu_converted),
-    sizeof( float ) * 6 );
-
-/* Roll/Pitch + Rates */
-dump_buffer_ptr->pitch_angle = sensor_data.imu_data.state_estimate.pitch_angle;
-dump_buffer_ptr->roll_angle = sensor_data.imu_data.state_estimate.roll_angle;
-dump_buffer_ptr->yaw_angle = sensor_data.imu_data.state_estimate.yaw_angle;
-dump_buffer_ptr->pitch_rate = sensor_data.imu_data.state_estimate.pitch_rate;
-dump_buffer_ptr->roll_rate = sensor_data.imu_data.state_estimate.roll_rate;
-dump_buffer_ptr->yaw_rate = sensor_data.imu_data.state_estimate.yaw_rate;
+/* Quats */
+dump_buffer_ptr->attitude = sensor_data.state_estimate.attitude;
 
 /* Baro */
-dump_buffer_ptr->baro_pressure = sensor_data.baro_pressure;
-dump_buffer_ptr->baro_temp = sensor_data.baro_temp;
-dump_buffer_ptr->baro_alt = sensor_data.baro_alt;
-dump_buffer_ptr->baro_velo = sensor_data.baro_velo;
+dump_buffer_ptr->alt = sensor_data.baro_alt;
 
 /* GPS */
-dump_buffer_ptr->gps_dec_longitude = sensor_data.gps_dec_longitude;
-dump_buffer_ptr->gps_dec_latitude = sensor_data.gps_dec_latitude;
+dump_buffer_ptr->longitude = sensor_data.gps_dec_longitude;
+dump_buffer_ptr->latitude = sensor_data.gps_dec_latitude;
+
+/* Controls */
+dump_buffer_ptr->acc_z = sensor_data.imu_converted.accel_z;
+dump_buffer_ptr->roll_rate = sensor_data.state_estimate.roll_rate;
 
 }
 #endif

commands/commands.h

@@ -30,6 +30,7 @@ extern "C" {
 /* platform specific includes */
 #if defined( A0002_REV2 ) || defined( A0005_REV1 )
 #include "imu.h"
+#include "usb.h"
 #endif
 
 /*------------------------------------------------------------------------------
@@ -95,30 +96,18 @@ extern "C" {
 #define FIRMWARE_RECEIVER	    ( 0x11 ) /* Reciever Firmware 	 */
 
 /* Other macros */
-#define DASHBOARD_DUMP_SIZE	( 72 )
+#define DASHBOARD_DUMP_SIZE	( 36 )
 
 typedef struct __attribute__((packed)) _DASHBOARD_DUMP_TYPE
 	{
-	float acc_x;
-	float acc_y;
+	QUAT attitude;
+	float alt;
+	float latitude;
+	float longitude;
 	float acc_z;
-	float gyro_x;
-	float gyro_y;
-	float gyro_z;
-	float roll_angle;
-	float pitch_angle;
-	float yaw_angle;
 	float roll_rate;
-	float pitch_rate;
-	float yaw_rate;
-	float    baro_pressure; 
-	float    baro_temp;	
-	float	 baro_alt;
-	float 	 baro_velo;
-	float	 gps_dec_longitude;
-	float	 gps_dec_latitude;
 	} DASHBOARD_DUMP_TYPE;
-	_Static_assert( sizeof(DASHBOARD_DUMP_TYPE) == 72, "DASHBOARD_DUMP_TYPE size invalid.");
+	_Static_assert( sizeof(DASHBOARD_DUMP_TYPE) == DASHBOARD_DUMP_SIZE, "DASHBOARD_DUMP_TYPE size invalid.");
 
 /*------------------------------------------------------------------------------
  Function Prototypes 

debug_sdr/debug_sdr.h

@@ -166,7 +166,8 @@ void debug_callback_handler
 #if defined( EMULATOR )
   #define debug_ignore_emulator_warnings_start()        \
     _Pragma("GCC diagnostic push")                      \
-    _Pragma("GCC diagnostic ignored \"-Wformat\"")
+    _Pragma("GCC diagnostic ignored \"-Wformat\"")      \
+    _Pragma("GCC diagnostic ignored \"-Wdiscarded-qualifiers\"")
 #else
   #define debug_ignore_emulator_warnings_start() /* do nothing */
 #endif

error_sdr/error_sdr.c

@@ -141,19 +141,23 @@ default_error_handler.error_callback( error_code );
 /*******************************************************************************
 *                                                                              *
 * PROCEDURE:                                                                   * 
-* 		error_log_warning                                                      *
+* 		__sdr_log_warning                                                      *
 *                                                                              *
 * DESCRIPTION:                                                                 * 
 * 		Place a warning message in the buffer.                                 *
 *                                                                              *
+* NOTE:                                                                        *
+*       Should be called through the error_log_warning macro for bounds        *
+*       checking.                                                              *
+*                                                                              *
 *******************************************************************************/
-void error_log_warning
+void __sdr_log_warning
     (
-    char* message
+    const char* message
     )
 {
 last_warning.systick = HAL_GetTick();
-memcpy( last_warning.message, message, 72 );
+memcpy( last_warning.message, message, 36 );
 is_pending_warning = true;
 
 } /* error_log_warning */
@@ -162,19 +166,22 @@ is_pending_warning = true;
 /*******************************************************************************
 *                                                                              *
 * PROCEDURE:                                                                   * 
-* 		error_log_info                                                      *
+* 		__sdr_log_info                                                         *
 *                                                                              *
 * DESCRIPTION:                                                                 * 
 * 		Place a warning message in the buffer.                                 *
 *                                                                              *
+* NOTE:                                                                        *
+*       Should be called through the error_log_info macro for bounds checking. *
+*                                                                              *
 *******************************************************************************/
-void error_log_info
+void __sdr_log_info
     (
-    char* message
+    const char* message
     )
 {
 last_info.systick = HAL_GetTick();
-memcpy( last_info.message, message, 72 );
+memcpy( last_info.message, message, 36 );
 is_pending_info = true;
 
 } /* error_log_info */

error_sdr/error_sdr.h

@@ -37,7 +37,7 @@ extern "C" {
 /*------------------------------------------------------------------------------
  Constants 
 ------------------------------------------------------------------------------*/
-#define TEXT_MESSAGE_LENGTH 72
+#define TEXT_MESSAGE_LENGTH 36
 
 #ifndef F1_TESTBED
 #define Error_Handler( a ) error_fail_fast( a ) /* backwards compatible */
@@ -156,6 +156,22 @@ typedef struct TEXT_MESSAGE
 *******************************************************************************/
 #define assert_return( condition, retval ) do { if ( !(condition) ) return retval; } while(0)
 
+/* type check, bounds check, then execute */
+/* if either of these macros fail to expand, then its possible the user passed a pointer and not a literal. */
+#define error_log_warning( string ) \
+    do { \
+    _Static_assert( sizeof( "" string ) <= TEXT_MESSAGE_LENGTH, "Warning Message is oversized." ); \
+    __sdr_log_warning( string ); \
+    } while(0)
+
+/* type check, bounds check, then execute */
+/* if either of these macros fail to expand, then its possible the user passed a pointer and not a literal. */
+#define error_log_info( string ) \
+    do { \
+    _Static_assert( sizeof( "" string ) <= TEXT_MESSAGE_LENGTH, "Info Message is oversized." ); \
+    __sdr_log_info( string ); \
+    } while(0)
+
 
 /*------------------------------------------------------------------------------
  Function Prototypes 
@@ -168,14 +184,14 @@ void error_fail_fast
     );
 
 /* warnings and info for telemetry */
-void error_log_info
+void __sdr_log_info
     (
-    char* message
+    const char* message
     );
 
-void error_log_warning
+void __sdr_log_warning
     (
-    char* message
+    const char* message
     );
 
 bool error_get_warning