flight_controller.h

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#ifndef FLIGHT_CONTROLLER_H
#define FLIGHT_CONTROLLER_H
 
#include "sensors_reading/mpu6050/mpu6050_c.h"
 
#include <inttypes.h> // For int64_t
#include <stdbool.h>  // For bool
 
// Set acceleration threshold to detect liftoff (in g-forces).
#define ACCELERATION_THRESHOLD_FOR_LIFTOFF_DETECTION 2.0
 
// Set window size to calculate the altitude mean.
#define WINDOW_SIZE_FOR_ALTITUDE_MEAN 10
 
// Altitude threshold (in meters) from the highest recorded altitude to consider
// it the apogee.
#define ALTITUDE_DIFFERENCE_TO_CONSIDER_APOGEE 1
 
// Configure height for deploying main chute (in meters).
#define MAIN_CHUTE_DEPLOYMENT_HEIGHT 150.0
 
// Configure deployment times. This opens windows for chutes deployment.
#define MIN_MS_DROGUE_DEPLOYMENT 9500
#define MAX_MS_DROGUE_DEPLOYMENT 1300
#define MIN_MS_MAIN_DEPLOYMENT 20000
#define MAX_MS_MAIN_DEPLOYMENT 35000
 
// Number of milliseconds that the chute deployment charges will be ignited.
#define MS_EXECUTING_CHUTE_CHARGES 1000
 
// Set acceleration threshold to detect touchdown (in g-forces).
#define ACCELERATION_THRESHOLD_FOR_TOUCHDOWN_DETECTION 2.0
 
#define TAG_FLIGHT_CONTROLLER "Flight Controller"

void flight_controller();

bool detect_liftoff(mpu6050_acceleration_t rocket_acc);

float update_rocket_altitude_mean(float rocket_altitude,
                                  float *altitude_mean_array,
                                  int *oldest_element_pointer);

bool should_drogue_chute_be_deployed(float altitude_mean,
                                     float highest_altitude_mean_detected,
                                     uint64_t ms, uint64_t ms_liftoff);

bool should_main_chute_be_deployed(float mean_altitude,
                                   float launching_altitude, uint64_t ms,
                                   uint64_t ms_liftoff);

bool detect_touchdown(mpu6050_acceleration_t rocket_acc);
 
#endif // FLIGHT_CONTROLLER_H