Simulation

Important

The following information is in reference to the old flight software before commit 38dbe3914cbb9e5197c8515ba5a78227b85d0f54. If you have updated the flight software or cloned it after the aforementioned commit, then the flight software is already gs2-compatible and you do not need to modify it.

To test the Ground Station, you can run a simulation of the flight software by editing your environment to be sim. The simulation software can be found in the old flight software repository here.

However, in its initial state, the simulation is incompatible with the Ground Station. Please review the instructions below to properly configure the flight software to run the simulation.

Modifications

For the simulation to properly work, various modifications to the default configuration and code must be done.

Configuration

The flight software's configuration is handled in full_config.json. If you would not like to manually modify each property in the configuration please refer to the "modern" config provided here.

Telemetry

GS_IP and GS_PORT in the telemetry container should correspond to the host and port properties in the Ground Station's configuration.

Sensors

Thermo-1 should be renamed to TC-1 in the thermocouple container to conform with new naming conventions.

// ...
"sensors": {
  "list": {
    "thermocouple": {
      "TC-1": {
        // ...

PT-5, PT-P, PT-7, and PT-8 should be removed from the pressure list, leaving PT-1 through PT-4.

// ...
    "pressure": {
      "PT-1": {
        // ...
      }
      // PT-2, PT-3, ...
      "PT-4": {
        // ...

A new container, load_cell, in list should be added and contain load cells LC-1 to LC-3.

// ...
  "list": {
    "load_cell": {
      "LC-1": {
        "kalman_args": {
            "process_variance": 0.01,
            "measurement_variance": 0.02,
            "kalman_value": 1000
          },
          "boundaries": {
            "waiting": {
              "safe": [100, 500],
              "warn": [50, 550]
            },
            "pressurization": {
              "safe": [100, 500],
              "warn": [50, 550]
            },
            "autosequence": {
              "safe": [100, 500],
              "warn": [50, 550]
            },
            "postburn": {
              "safe": [100, 500],
              "warn": [50, 550]
            }
          },
          "load_cell_pins": [0, 1, 2, 3],
          "bias": 1.0,
          "slope": 1.0
      }
      // LC-2, LC-3, ...

Valves

Note: Although the Ground Station doesn't currently display valve data, it is still parsed and thus must be comply with the Ground Station.

Add ethanol_ground_vent to the solenoid container with the label NCSV-1.

// ...
"valves": {
  "list": {
    "solenoid": {
      // ...
      "ethanol_mpv": {
        // ...

Rename ethanol_vent in the same container to nitrous_vent with the label NCSV-2.
- ```
// ...
      "nitrous_vent": {
        // ...
```

Change ethanol_pressurization and ethanol_mpv's labels to NCSV-3 and NCSV-9, respectively.

// ...
      "ethanol_pressurization": {
        "label": "NCSV-3",
        "pin": 6,
        "natural": "CLOSED"
      },
      // ...
      "ethanol_mpv": {
        "label": "NCSV-9",
        "pin": 12,
        "natural": "CLOSED"
      },
      // ...

Add nitrous_pressurization, ethanol_flight_vent, nitrous_flight_vent, ethanol_drain, and nitrous_drain to the solenoid container with the labels NCSV-4, NCSV-5, NCSV-6, NCSV-7, and NCSV-8, respectively.

// ...
      "nitrous_pressurization": {
        "label": "NCSV-4",
        "pin": 7,
        "natural": "CLOSED"
      },
      "ethanol_flight_vent": {
        "label": "NCSV-5",
        "pin": 8,
        "natural": "CLOSED"
      },
      "nitrous_flight_vent": {
          "label": "NCSV-6",
          "pin": 9,
          "natural": "CLOSED"
      },
      "ethanol_drain": {
          "label": "NCSV-7",
          "pin": 10,
          "natural": "OPEN"
      },
      "nitrous_drain": {
          "label": "NCSV-8",
          "pin": 11,
          "natural": "CLOSED"
      }
      // ...

Add nitrous_mpv and nitrous_isolation with the labels NCSV-A and NCSV-B. These labels are in base-16 since the packet format sets valve locations to consist of only 1 character.

// ...
      "nitrous_mpv": {
        "label": "NCSV-A",
        "pin": 13,
        "natural": "CLOSED"
      },
      "nitrous_isolation": {
        "label": "NCSV-B",
        "pin": 14,
        "natural": "CLOSED"
      }
      // ...

Task Configuration

In the task_config container, remove "stage" from the control_tasks array and add "telemetry" to the tasks array.

// ...
"task_config": {
  "tasks": ["sensor", "valve", "telemetry"],
  "control_tasks": ["sensor", "valve"]
},
// ...

Modifying Header Types

In the old Ground Station, the packet format not only had more header types like INF, but also referred to existing header types like SEN and VAL as DAT and VDT. The old flight software hardcoded these header types, so you must find all occurrences of DAT and VDT and convert them to SEN and VAL.

ValveControl.cpp

# ...
-46 | global_flag.send_packet("VDT", mod_data);
+46 | global_flag.send_packet("VAL", mod_data);

SensorControl.cpp

# ...
-119 | global_flag.send_packet("DAT", data);
+119 | global_flag.send_packet("SEN", data);

Load Cell Support

Load cells aren't supported by the old flight software by default, so you have to do some modifications to allow load cell reading.

SensorTask.cpp

# ...
 34 | #ifdef DESKTOP
 35 |   pressure_driver = new PseudoPressureDriver(pressure_pins);
 36 |   thermo_driver = new PseudoThermoDriver(thermo_pins);
+37 |   load_cell_driver = new PseudoLoadCellDriver(load_cell_pins);
# ...
 49 |   pressure_driver->read();
 50 |   thermo_driver->read();
+51 |   load_cell_driver->read();
# ...
+79 |   // Update load cell values
+80 |   for(unsigned int i = 0; i < load_cell_pins.size(); i++) {
+81 |     int pin = load_cell_pins[i][0];  
+82 |
+83 |     pair<string, string> sensor_info = pin_sensor_mappings[pin];
+84 |     string type = sensor_info.first;
+85 |     string loc = sensor_info.second;
+86 |     float value = load_cell_driver->getForceValue(pin);
+87 |     print(type + " " + loc + ": " + Util::to_string((double) value));
+88 |     global_registry.sensors[type][loc].measured_value = value;
+89 |   }

Sensor & Valve Type Mappings

Like the Ground Station, the flight software keeps its own internal mappings of sensors and valves. Since we have altered the list of valves and sensors, we must modify these mappings accordingly.

SensorControl.hpp

# ...
 20 | unordered_map<string, string> sensor_type_map {
 21 |  {"thermocouple", "0"},
 22 |  {"pressure", "1"},
+23 |  {"load_cell", "2"}
 24 | };
# ...
 26 | unordered_map<string, string> sensor_location_map {
 27 |   {"PT-1", "1"},
 28 |   {"PT-2", "2"},
 29 |   {"PT-3", "3"},
 30 |   {"PT-4", "4"},
-31 |   {"PT-5", "5"},
-32 |   {"PT-P", "P"},
-33 |   {"PT-7", "7"},
-34 |   {"PT-8", "8"},
-35 |   {"Thermo-1", "9"},
+31 |   {"TC-1", "5"},
+32 |   {"LC-1", "6"},
+33 |   {"LC-2", "7"},
+34 |   {"LC-3", "8"},
 35 | };

ValveControl.hpp

# ...
 21 | std::unordered_map<std::string, std::string> valve_location_map {
-22 |  {"ethanol_pressurization", "1"},
-23 |  {"ethanol_vent", "2"},
-24 |  {"ethanol_mpv", "3"},
-26 |  {"nitrous_fill", "5"},
-27 |  {"nitrous_mpv", "6"},
+22 |  {"ethanol_ground_vent", "1"},
+23 |  {"nitrous_vent", "2"},
+24 |  {"ethanol_pressurization", "3"},
 25 |  {"nitrous_pressurization", "4"},
+26 |  {"ethanol_flight_vent", "5"},
+27 |  {"nitrous_flight_vent", "6"},
+28 |  {"ethanol_drain", "7"},
+29 |  {"nitrous_drain", "8"},
+30 |  {"ethanol_mpv", "9"},
+31 |  {"nitrous_mpv", "A"},
+32 |  {"nitrous_isolation", "B"}
 33 | };

TelemetryControl.hpp

# ...
 28 | unordered_map<string, string> sensor_type_inverse_map {
 29 |  {"0", "thermocouple"},
 30 |  {"1", "pressure"},
+31 |  {"2", "load_cell"}
 32 | };
# ...
 34 | unordered_map<string, string> sensor_location_inverse_map {
 35 |   {"1", "PT-1"},
 36 |   {"2", "PT-2"},
 37 |   {"3", "PT-3"},
 38 |   {"4", "PT-4"},
-39 |   {"5", "PT-5"},
-40 |   {"6", "PT-P"},
-41 |   {"7", "PT-7"},
-42 |   {"8", "PT-8"},
-43 |   {"9", "Thermo-1"},
+39 |   {"5", "TC-1"},
+40 |   {"6", "LC-1"},
+41 |   {"7", "LC-2"},
+42 |   {"8", "LC-3"},
 43 | };
# ...
 21 | std::unordered_map<std::string, std::string> valve_location_inverse_map {
-22 |  {"1", "ethanol_pressurization"},
-23 |  {"2", "ethanol_vent"},
-24 |  {"3", "ethanol_mpv"},
-26 |  {"5", "nitrous_fill"},
-27 |  {"6", "nitrous_mpv"},
+22 |  {"1", "ethanol_ground_vent"},
+23 |  {"2", "nitrous_vent"},
+24 |  {"3", "ethanol_pressurization"},
 25 |  {"4", "nitrous_pressurization"},
+26 |  {"5", "ethanol_flight_vent"},
+27 |  {"6", "nitrous_flight_vent"},
+28 |  {"7", "ethanol_drain"},
+29 |  {"8", "nitrous_drain"},
+30 |  {"9", "ethanol_mpv"},
+31 |  {"A", "nitrous_mpv"},
+32 |  {"B", "nitrous_isolation"}
 33 | };

Running

Information on how to run the flight software simulation can be found on its repository's homepage.

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SIMULATION.md

SIMULATION.md

Simulation

Modifications

Configuration

Telemetry

Sensors

Valves

Task Configuration

Modifying Header Types

ValveControl.cpp

SensorControl.cpp

Load Cell Support

SensorTask.cpp

Sensor & Valve Type Mappings

SensorControl.hpp

ValveControl.hpp

TelemetryControl.hpp

Running

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SIMULATION.md

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SIMULATION.md

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Simulation

Modifications

Configuration

Telemetry

Sensors

Valves

Task Configuration

Modifying Header Types

ValveControl.cpp

SensorControl.cpp

Load Cell Support

SensorTask.cpp

Sensor & Valve Type Mappings

SensorControl.hpp

ValveControl.hpp

TelemetryControl.hpp

Running