Lib update.

[realtimepeople]

TAS, IAS = 0 handling to avoid FPU faults.

Checklist before merging

• [x] Is the most recent master version merged? Double check with git pull and git merge master.
• [x] Does it compile without errors?
• [x] Has someone reviewed your changes?

Hardware test

• [x] Flash the ESP and STM Firmware via USB and connect a GNSS antenna
• [x] Test without a SD-Card
• [ ] Check that the Bluetooth and CAN works and transmitts data. If possible test with Hardware-version 1.0 and 2.0!
• [ ] Insert a SD-Card with the latest sensor_config.txt file from Configuration_files and an empty file named "enable.logger" Let the sensor run for ~ 30 minutes. Afterwards check that there are only two files: data file yymmdd_hhmmss.f* and a calibration/configuration dump file: yymmdd_hhmmss.EEPROM There shall be no crash-dump files.

[realtimepeople]

Adaption to lib changes. Recognition of modified configuration file format.

[MaxBaex]

Tested with Build Configuration "Release"

• Flash to Hardware, Connect to Smartphone via Bluetooth OK
• Observer AHRS with default sensor_config.txt OK
• Simulated Pitot Pressure observed TAS and Wind values. Plausible in the LAB and OK
• Lifted GNSS Antenne and observed Vario signal. Pausible => OK
• Observed and simulated Baro Altitude. OK
• No crash dumps in 20 minutes observed. .f37 and eeprom dump written. OK

• EEPROM DUMP checked. Values differ. NOK 20 Mag_Declination = 6.042481e-2 21 Mag_Inclination = 1.148071e0 Values in sensor_config.txt 20 Mag_Declination = 3.5 21 Mag_Inclination = 66 Test without SD-Card: System works as expected. OK Test with configuration roll angles:

  • 45° Roll angle configuration. AHRS barely changed. NOK sensor_config.txt : 01 SensTilt_Roll = 45 230322_165800.EEPROM: 01 SensTilt_Roll = 7.800293e-1

  • 45° Nick angle configuration: AHRS barely changed. NOK sensor_config.txt: 02 SensTilt_Nick = 45.0 230322_170130.EEPROM: 02 SensTilt_Nick = 7.800293e-1

  • 45° Yaw angle configuration: AHRS barely changed. NOK sensor_config.txt: 03 SensTilt_Yaw = 45 230322_170544.EEPROM: 03 SensTilt_Yaw = 7.800293e-1

  • Test magnetic calibration feature by putting an file "magnetic.calibration" on the sd card. The sensore writes a "before_calibration.EEPROM" file. With this content: 10 Mag_X_Off = -2.645874e-1 11 Mag_X_Scale = 1.706116e0 12 Mag_Y_Off = 3.601074e-2 13 Mag_Y_Scale = 9.996338e-1 14 Mag_Z_Off = 1.620483e-1 15 Mag_Z_Scale = 1.193054e0 16 Mag_Calib_Err = 3.463287e-3 17 Mag_Auto_Calib = 1.000000e0 How did these values made it into the EEPROM as the sensor was never airborne or ground calibrated? NOK The calibration itself seems to never finish. after_calibration.EEPROM is never written. Variometer output never switches to the distortion mode. A short instruction manual shall be added to the Readme.md.

• Remove GNSS Antenna during normal operation and verified that the reported GNSS Fix disappears (number of satellites == 0). Fix is established as soon as Antenna is connected again. No crashdumps and only one log file observed. OK

[MaxBaex]

Test mit Commit : 5b7b17a flash via DFU:

• Test ohne SD-Karte direkt nach Flash: OK
• SD Karte einlegen im Betrieb. SD LED blinkt danach. EEPROM Dump und Logfile wird angelegt. OK
• Kaltstart mit eingeleger SD-Karte. Vergleich sensor_config.txt EEPROM dump Werte OK
• Test sensof_config.txt Drehwinkel bei gerade liegendem Sensor. Roll = 45. Linke Tragfläche hängt mit 45° unten. EEPROM Dump passt. Roll = -45 Rechte Tragfläche hängt mit 45° unten. EEPROM Dump passt Nick = +90.0 Nase zeigt direkt auf den Boden. Heading und EEPROM Dump passt. Nick = -90.0 Nase zeigt senkrecht nach Oben. Heading und EEPROM Dump passt. Yaw = 90 . Nach Norden ausgerichteter Sensor (Default Einbaulage) ergibt ein Heading nach Westen. EEPROM Dump passt. Yaw = -90 Nach Norden ausgerichteter Sensor (Default Einbaulage) ergibt ein Heading nach Osten. EEPROM Dump passt.
• Default sensor_config.txt auf SD Karte + eine leere magnetic.calibration Datei. before_calibration.EEPROM wird erstellt. Eine after_calibration.EEPROM Datei wird nicht angelegt. Hier wäre es auch wünscheswert eine klare LED Rückmeldung zu bekommen ob man noch weiter drehen soll und ob die Calibration fertig ist. Diese Werte stehen in before_calibration: Die X-Achsen Skalierung scheint etwas hoch zu sein. Aber wie haben es diese Kalibrierungsparameter ins EEPROM geschafft, wenn nie eine Kalibrierung abgeschlossen wurde?

[MaxBaex]

Erneuter Test der magnetischen Boden Kalibrierung mit den Dateien:

• sensor_config.txt ( Default)
• magnetic.calibration (leer)
• sensor.readings (leer)

Serielle Ausgabe (Monitor in OpenSOAR)

Vergleich before / after_calibration.EEPROM Dateien.