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ESO ESL1 Main repository

Home Page: https://eso-estaca.fr/2-0-page-fusee-sonde/

C++ 99.47% C 0.53%

rocket student

esl1's Introduction

ESL1

Code Repository for the ESO ESL1 (ESTACA Space Launcher) Student Rocket. The main goal is to provide accurate position and particularily altitude data via sensor fusion, to ensure parachute deployement at the proper altitude and tracking of the rocket

Structure is as follows :

-> Adafruit BNO055 IMUs, Ublox Gen9 GPS, Adafruit BMP280 Baro sensors (and their respective interface librairies to acquire measurements)

-> Common base for all sensors (array of measurements, size of the array (# of measurands))

-> IMU, GPS, BARO objects (IMU_BNO055, GPS_UBX9 and BARO_BMP280 objects, with "Avio" indicating their location, the goal is to format measurements into a universal array format)

-> Sensors object (Sensors object, the goal is to combine the data from all sensors of one type (IMU_BNO055 for example which for ESL1 consists of 2 IMUs))

-> Sensors System object (SensingSystem object, the goal is to centralize all Sensors objects and combine their data into a final form (to combine the data of IMUs in the Avionics bay and in the tail for example, transparent in the case of ESL1))

-> EGI (Embedded GPS/INS, Kalman filter algorithm, pulls data from the SensingSystem and fuses GPS/IMU measurements to provide a more accurate position/altitude readout in the ECEF referential. Also keeps track of time, incorporates barometric backup for altitude computation)

=> Navigation solution

=> Relayed to the ground via telemetry

=> Altitude computation/timer for parachute deployement

=> Backup GSM module to transmit position upon landing

esl1's People

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esl1's Issues

SensingSystem class getIMUs_meas() etc. methods need to be implemented

Make it possible to set a constant for altitude during barometric system init

each type of sensor object needs to have it's getMeas() method completed

Kalman output needs to be filled

Documentation and comments

Launch Trigger signal

Jack cable unplugged

completion of the main with all modules

Kalman Init needs to be implemented

See if almanac data for GPS can be stored and used to init the GPS

check that IMU do indeed go to sleep mode / enter normal mode

Telemetry integration

general cleanup to closer ressemble C++ code rather than arduino sketch

See if compression can help for sending the TELEM data faster

Physical Hardware check

Pop the parachutes and deploy all necessary hardware to check it works

allow IMU calibration phase

See if GSM in idle still emits/receives

User interface (LEDs, Buzzer, Pins)

Buzzer triggered on landing to make the rocket easier to find, etc.

check IMU calibration data

Data from sensors needs to be properly formated before it's usage in the Kalman Algo

IMU tare on launch pad

loop time reduction

if necessary :
-optimize code (concatenante if else statements, study loops and exclude break cases etc.
-reduce the number of verifications (GPS fixStatus check for example)
-Code our own matrix lab (to replace basic linear algebra)
-Centralize utilities (matrix multiplications which are present in multiple files)

check that IMU acceleration is in ENU ref, otherwise use orientation (Magneto) to do the base change

Add a way to read a TELEM signal to deploy a parachute

sensor initialization sequence

Telemetry libraries implementation

a way to save GPS Ephemeris data before a reboot (to change a config for example) and load it

Also see if we could store this manually

Switch to BMI088 IMU (Adafruit) and BMP390 Baro (Adafruit)

IMU drift correction needs to be implemented

GSM integration

NARVAL experience pin trigger

Cold gas active roll correction system, needs to be triggered after launch

GPS Power management

The GPS consummes the most power by far, it's also the most annoying to get running. Is it worth it to send it to sleep after initial fix and potentially lose the fix ?

GPS dropout and status needs to be checked (to make sure the same data isn't read twice in a row)

Parachute deployement system

2 parachutes :

one drogue -> detect apogee and send signal on pin
one main -> open at 450m (another signal on pin)