This repository contains code used for flight software for Nakuja Rocket N2. The following description provides a detailed
description of program flow, project structure, library dependencies and/or any other necessary documentation needed to run this
code successfully.
├── data
│ └── flightdata.txt
├── include
│ ├── checkState.h
│ ├── defs.h
│ ├── functions.h
│ ├── kalmanfilter.h
│ ├── logdata.h
│ ├── readsensors.h
│ └── transmitwifi.h
├── lib
│ └── README
├── LICENSE
├── platformio.ini
├── README.md
├── src
│ └── main.cpp
└── test
└── README
Folder |
Description |
include |
Contains header files |
lib |
Project libraries |
src |
Contains main.cpp source file run by the flight computer |
test |
Contains unit test files |
File |
Description |
defs.h |
Contains constants declaration |
functions.h |
Contains general utility functions and prototype function declarations |
logdata.h |
code for SD card mounting and logging |
checkState.h |
Contains state machine logic |
kalmanfilter.h |
Contains kalman filter for accelerometer values |
readsensors.h |
Contains code for sensors on board including the MPU,BMP,GPS |
transmitwifi.h |
Contains WiFi set-up and MQTT code |
The flight program is structured as a state machine with the following states: adopted from BPS space
State |
Description |
Waiting for event |
0 |
Pre-Flight Ground |
altitude >= 10m AGL |
1 |
Powered Flight |
velocity < 0 to detect apogee |
2 |
Apogee |
10m below apogee to deploy parachute |
3 |
Chute Descent |
altitude <= 10m AGL |
4 |
Post-flight Ground |
No more events |