protoflight 0.1.3

Protoflight flight controller.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139

#[cfg(feature = "serde")]
use {
    postcard::experimental::max_size::MaxSize,
    sequential_storage::map::PostcardValue,
    serde::{Deserialize, Serialize},
};

#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize, MaxSize))]
pub struct GpsRescueConfig {
    pub max_rescue_angle_degrees: u16,
    pub return_altitude_m: u16,
    pub descent_distance_m: u16,
    pub ground_speed_cmps: u16,
    pub yaw_kp: u8,
    pub min_sats: u8,
    pub vel_kp: u8,
    pub vel_ki: u8,
    pub vel_kd: u8,
    pub min_start_dist_m: u16,
    pub sanity_checks: GpsRescueSanityChecks,
    pub allow_arming_without_fix: u8,
    pub use_mag: u8,
    pub altitude_mode: GpsRescueAltitudeMode,
    pub ascend_rate: u16,
    pub descend_rate: u16,
    pub initial_climb_m: u16,
    pub roll_mix: u8,
    pub disarm_threshold: u8,
    pub pitch_cutoff_hz: u8,
    pub imu_yaw_gain: u8,
}

#[cfg(feature = "serde")]
impl PostcardValue<'_> for GpsRescueConfig {}

impl Default for GpsRescueConfig {
    fn default() -> Self {
        Self::new()
    }
}

#[allow(unused)]
impl GpsRescueConfig {
    pub const fn new() -> Self {
        Self {
            max_rescue_angle_degrees: 45,
            return_altitude_m: 30,
            descent_distance_m: 20,
            ground_speed_cmps: 750,
            yaw_kp: 20,
            min_sats: 8,
            vel_kp: 8,
            vel_ki: 40,
            vel_kd: 12,
            min_start_dist_m: 15,
            sanity_checks: GpsRescueSanityChecks::FsOnly,
            allow_arming_without_fix: 0,
            use_mag: 0,
            altitude_mode: GpsRescueAltitudeMode::Max,
            ascend_rate: 750,
            descend_rate: 150,
            initial_climb_m: 10,
            roll_mix: 150,
            disarm_threshold: 30,
            pitch_cutoff_hz: 75,
            imu_yaw_gain: 10,
        }
    }
}

#[allow(missing_docs)]
#[repr(u8)]
#[derive(Clone, Copy, Debug, Default, Eq, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize, MaxSize))]
pub enum GpsRescueSanityChecks {
    Off = 0,
    On = 1,
    #[default]
    FsOnly = 2,
}

#[allow(unused)]
impl GpsRescueSanityChecks {
    /// Forgiving conversion, converts invalid values to default.
    #[must_use]
    pub fn from_u8(value: u8) -> Self {
        match value {
            0 => Self::Off,
            1 => Self::On,
            2 => Self::FsOnly,
            _ => Self::default(),
        }
    }
}

#[allow(missing_docs)]
#[repr(u8)]
#[derive(Clone, Copy, Debug, Default, Eq, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize, MaxSize))]
pub enum GpsRescueAltitudeMode {
    #[default]
    Max = 0,
    Fixed = 1,
    Current = 2,
}

#[allow(unused)]
impl GpsRescueAltitudeMode {
    /// Forgiving conversion, converts invalid values to default.
    #[must_use]
    pub fn from_u8(value: u8) -> Self {
        match value {
            0 => Self::Max,
            1 => Self::Fixed,
            2 => Self::Current,
            _ => Self::default(),
        }
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    fn is_full<T: Sized + Send + Sync + Unpin + Copy + Clone + Default + PartialEq>() {}
    fn is_full_eq<T: Sized + Send + Sync + Unpin + Copy + Clone + Default + Eq + PartialEq>() {}
    #[cfg(feature = "serde")]
    fn is_config<T: Serialize + MaxSize + for<'a> Deserialize<'a> + for<'a> PostcardValue<'a>>() {}

    #[test]
    fn normal_types() {
        is_full_eq::<GpsRescueSanityChecks>();
        is_full_eq::<GpsRescueAltitudeMode>();
        is_full::<GpsRescueConfig>();
        #[cfg(feature = "serde")]
        is_config::<GpsRescueConfig>();
    }
}