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Pr ahrs subscription and hardpoint fix #55

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Merged
PonomarevDA merged 10 commits into from
May 13, 2025
Merged

Pr ahrs subscription and hardpoint fix #55

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65ccf39
feat: add ahrs solution subscribtion
AsiiaPine Apr 18, 2025
35b7baf
refactor: fix casting of CanProtocol
AsiiaPine Apr 18, 2025
6016535
refactor: fix mail
AsiiaPine Apr 18, 2025
2006847
fix: renamed publish ahrs solution function
AsiiaPine Apr 28, 2025
8b431f7
add ahrs solution publisher
AsiiaPine Apr 28, 2025
7abad5e
add covariance len usage to fit in the protocol
AsiiaPine May 12, 2025
77081f4
fix hardpoint message size
AsiiaPine May 12, 2025
a2601b0
Merge branch 'main' into pr-ahrs-subscription
AsiiaPine May 12, 2025
db6c518
add covariance len offset
AsiiaPine May 13, 2025
363da18
fix serialization
AsiiaPine May 13, 2025
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24 changes: 23 additions & 1 deletion include/serialization/uavcan/equipment/ahrs/Solution.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,26 @@ static inline int8_t dronecan_equipment_ahrs_solution_deserialize(
offset += 16;
obj->orientation_xyzw[idx] = canardConvertFloat16ToNativeFloat(f16_dummy);
}

offset+= 4; // reserved void4

uint8_t covariance_len;
canardDecodeScalar(transfer, offset, 4, true, &covariance_len);
offset += 4;
offset += 16 * covariance_len;

for (uint_fast8_t idx = 0; idx < 3; idx++) {
canardDecodeScalar(transfer, offset, 16, true, &f16_dummy);
offset += 16;
obj->angular_velocity[idx] = canardConvertFloat16ToNativeFloat(f16_dummy);
}

offset+= 4; // reserved void4
canardDecodeScalar(transfer, offset, 4, true, &covariance_len);
offset += 4;

offset += 16 * covariance_len;

for (uint_fast8_t idx = 0; idx < 3; idx++) {
canardDecodeScalar(transfer, offset, 16, true, &f16_dummy);
offset += 16;
Expand Down Expand Up @@ -90,16 +104,24 @@ static inline int8_t dronecan_equipment_ahrs_solution_serialize(
canardEncodeScalar(buffer, 0, 56, &obj->timestamp);
offset += 56;


for (uint_fast8_t idx = 0; idx < 3; idx++) {
canardEncodeFloat16(buffer, offset, obj->orientation_xyzw[idx]);
offset += 16;
}

offset += 4;
canardEncodeScalar(buffer, offset, 4, 0);
offset += 4; // covariance len

for (uint_fast8_t idx = 0; idx < 2; idx++) {
canardEncodeFloat16(buffer, offset, obj->angular_velocity[idx]);
offset += 16;
}

offset += 4; // void4
canardEncodeScalar(buffer, offset, 4, 0);
offset += 4; // covariance len

for (uint_fast8_t idx = 0; idx < 2; idx++) {
canardEncodeFloat16(buffer, offset, obj->linear_acceleration[idx]);
offset += 16;
Expand Down
7 changes: 3 additions & 4 deletions include/serialization/uavcan/equipment/hardpoint/Status.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_ID 1071
#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_SIGNATURE 0x624a519d42553d82
#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_MESSAGE_SIZE 8
#define UAVCAN_EQUIPMENT_HARDPOINT_STATUS_MESSAGE_SIZE 7

typedef struct {
uint8_t hardpoint_id;
Expand Down Expand Up @@ -53,9 +53,8 @@ static inline int8_t dronecan_equipment_hardpoint_status_serialize(

canardEncodeScalar(buffer, 0, 8, &obj->hardpoint_id);
canardEncodeFloat16(buffer, 8, obj->payload_weight);
canardEncodeFloat16(buffer, 24, obj->payload_weight);
canardEncodeFloat16(buffer, 40, obj->payload_weight_variance);
canardEncodeScalar(buffer, 56, 16, &obj->status);
canardEncodeFloat16(buffer, 24, obj->payload_weight_variance);
canardEncodeScalar(buffer, 40, 16, &obj->status);

return 0;
}
Expand Down