search

tim-balloon / TIMflight

Flight MCP repo
0 stars 0 forks source link

Fix telemetry bug: az_autogyro, el_autogyro overwriting/packed into w… #101

Closed evanmayer closed 3 months ago

evanmayer commented 3 months ago

…rong bits of veto_sensor bitfield

Might fix a bug Shubh and I saw when trying to manually adjust gyro bias values - it seemed that when sending new gyro offsets using az_gyro_offset command, az_autogyro did not go false in telemetry, when it should have, even though we saw the az solution drift rate change according to our command.

Without this fix, the AZ_AUTO_GYRO bitfield telemetry variable is the logical OR of CommanData.az_autogyro and CommandData.el_autogyro, and the IS_SCHED telemetry variable is the logical OR of CommandData.uplink_sched and CommandData.az_autogyro.

evanmayer commented 3 months ago

@ianlowe13 if you have any spare time today, could you review this? I have another PR for the gyro bias estimation I'd like to get in, but I want it done separate from this one since they're not related.