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‎README.md

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# Model Rocket Computer
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Just an Arduino that records rocket's telemetry, detects apogee for parachute release, keep track of battery Voltage and has a Radio downlink
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**This is an updated version.**
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**Feel free to check Archive Branch for the old version**
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### Coded on Visual Studio Code
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- MCU: Seeeduino XIAO,
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- IMU: MPU6050,
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- Barometric Sensor: BMP388
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- SD Card
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- UART Radio
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# Model Rocket Computer
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Just an Arduino that records rocket's telemetry and detects apogee for parachute release.
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Coded on Visual Studio Code
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- MCU: Seeeduino XIAO,
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- IMU: MPU6050,
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- Barometric Sensor: BMP388
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1st version of the code was written back in 2019, It has since been archived [here](https://github.com/ndanilo8/ModelRocketComputer)
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‎include/README

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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the usual convention is to give header files names that end with `.h'.
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It is most portable to use only letters, digits, dashes, and underscores in
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header file names, and at most one dot.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

‎lib/AHRS/Altimeter/MovingAverageFilter.cpp

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/*
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https://github.com/sebnil/Moving-Avarage-Filter--Arduino-Library-
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The MIT License (MIT)
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Copyright (c) 2019 Sebastian Nilsson
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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********
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A moving average, also called rolling average, rolling mean or running average, is a type of finite impulse response filter (FIR) used to analyze a set of datum points by creating a series of averages of different subsets of the full data set.
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https://en.wikipedia.org/wiki/Moving_average
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*/
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#include "MovingAverageFilter.h"
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MovingAverageFilter::MovingAverageFilter(unsigned int newDataPointsCount)
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{
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k = 0; //initialize so that we start to write at index 0
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if (newDataPointsCount < MAX_DATA_POINTS)
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dataPointsCount = newDataPointsCount;
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else
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dataPointsCount = MAX_DATA_POINTS;
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for (i = 0; i < dataPointsCount; i++)
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{
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values[i] = 0; // fill the array with 0's
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}
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}
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float MovingAverageFilter::process(float in)
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{
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out = 0;
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values[k] = in;
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k = (k + 1) % dataPointsCount;
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for (i = 0; i < dataPointsCount; i++)
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{
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out += values[i];
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}
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return out / dataPointsCount;
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}

‎lib/AHRS/Altimeter/MovingAverageFilter.h

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/*
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https://github.com/sebnil/Moving-Avarage-Filter--Arduino-Library-
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The MIT License (MIT)
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Copyright (c) 2019 Sebastian Nilsson
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*******
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A moving average, also called rolling average, rolling mean or running average, is a type of finite impulse response filter (FIR) used to analyze a set of datum points by creating a series of averages of different subsets of the full data set.
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https://en.wikipedia.org/wiki/Moving_average
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*/
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#ifndef MovingAverageFilter_h
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#define MovingAverageFilter_h
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#define MAX_DATA_POINTS 20
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class MovingAverageFilter
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{
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public:
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//construct without coefs
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MovingAverageFilter(unsigned int newDataPointsCount);
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float process(float in);
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private:
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float values[MAX_DATA_POINTS];
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int k; // k stores the index of the current array read to create a circular memory through the array
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int dataPointsCount;
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float out;
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int i; // just a loop counter
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};
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#endif

‎lib/AHRS/Altimeter/altimeter.cpp

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#include <Altimeter/altimeter.h>
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#include <Adafruit_BMP3XX.h>
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// #include "MovingAverageFilter.h"
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#include <Chrono.h>
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#include <global.h>
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#include <config.h>
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#define SEALEVELPRESSURE_HPA (1013.25)
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Adafruit_BMP3XX bmp;
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// MovingAverageFilter MAF_altitude(20);
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Chrono apogeeTimer;
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bool Altimeter::begin()
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{
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// Start sensor on I2C
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if (bmp.begin_I2C())
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{
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#if is_DEBUG
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Serial.println("Starting BMP --> OK!");
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#endif
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// Set up oversampling and filter initialization
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bmp.setTemperatureOversampling(BMP3_OVERSAMPLING_8X);
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bmp.setPressureOversampling(BMP3_OVERSAMPLING_8X);
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bmp.setIIRFilterCoeff(BMP3_IIR_FILTER_COEFF_3);
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bmp.setOutputDataRate(BMP3_ODR_200_HZ);
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// KalmanInit(); // start kalman filter for the Altitude readings // KALMAN FILTER ON main.cpp
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#if is_DEBUG
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Serial.print("Calculating Relative Altitude");
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#endif
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for (int i = 0; i < 50; i++) // let the sensor make a few readings to get it started
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{
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bmp.readPressure();
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bmp.readTemperature();
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}
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// Just take the average for (relative Altitude determination)
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for (int i = 0; i < startingAltitudeReadings; i++)
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{
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sealevel_offset += bmp.readAltitude(SEALEVELPRESSURE_HPA);
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// ground_pressure += bmp.readPressure();
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#if is_DEBUG
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Serial.print(".");
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#endif
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}
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sealevel_offset /= startingAltitudeReadings;
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// ground_pressure /= 100; // Pascal to hPa
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// ground_pressure /= startingAltitudeReadings; // Avg to get relative ground pressure (set my AGL to 0m)
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// Equation taken from BMP180 datasheet (page 16):
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// http://www.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
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// current_altitude = 44330.0 * (1.0 - pow((bmp.pressure / 100.0) / ground_pressure, 0.1903)); // /100 Pascal to hPa
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current_altitude = bmp.readAltitude(SEALEVELPRESSURE_HPA) - sealevel_offset;
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data.altimeter.altitude = current_altitude;
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data.altimeter.temperature = bmp.readTemperature();
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previous_altitude = 0; // make sure this is 0
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#if is_DEBUG
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Serial.println();
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Serial.println("LAUNCH ALTITUDE: " + String(data.altimeter.altitude) + " TEMP: " + String(data.altimeter.temperature));
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#endif
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#if is_DEBUG
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Serial.println("PYRO CHANNELS --> OK!");
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#endif
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return true;
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}
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else
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{
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#if is_DEBUG
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Serial.println("Starting BMP --> FAILED!");
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#endif
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return false;
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}
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}
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bool Altimeter::update()
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{
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if (bmp.performReading())
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{
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current_altitude = bmp.readAltitude(SEALEVELPRESSURE_HPA) - sealevel_offset;
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data.altimeter.temperature = bmp.temperature;
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}
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// current_altitude = MAF_altitude.process(current_altitude); // when used the Moving average filter
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data.altimeter.altitude = current_altitude;
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// Record the max altitude
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if (current_altitude > max_altitude)
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{
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max_altitude = data.altimeter.altitude;
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}
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// Replace the previous_altitude with the current altitude for next loop
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previous_altitude = current_altitude;
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return true;
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}
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bool Altimeter::detectApogge()
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{
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if ((current_altitude < max_altitude))
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{
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if (apogeeTimer.hasPassed(10))
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{
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#if is_DEBUG
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Serial.println("---- APOGGE! ---- Max altitude: ");
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Serial.print(max_altitude);
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#endif
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return true;
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}
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}
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else
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{
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return false;
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}
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}
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float Altimeter::getVerticalVelocity()
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{
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return (current_altitude - previous_altitude) / data.delta_t; // check data struct for the kalman derived velocity
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}

‎lib/AHRS/Altimeter/altimeter.h

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#ifndef ALTIMETER_H
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#define ALTIMETER_H
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#include <Arduino.h>
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#include "data.h"
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/**
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* @brief Altimeter
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*
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*/
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class Altimeter
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{
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public:
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Altimeter(){};
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bool begin(); // return true if OK
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bool update(); // update Altimeter Data and it goes on top of the loop()
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bool detectApogge(); // detect apogge
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private:
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float getVerticalVelocity();
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float getAltitude_Temperature();
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float current_pressure, ground_pressure; // Pressure
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float previous_altitude, current_altitude, max_altitude = 0; // Altitude
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float startingAltitudeReadings = 16.0f; // amount of readings
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float sealevel_offset = 0;
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};
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#endif /* ALTIMETER_H */

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