firmware: app: tasks: Improving the implementation of the position de…

…termination task #336
spacelab-ufsc · Jul 26, 2023 · e6d95e9 · e6d95e9
1 parent 0850e56
commit e6d95e9
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Showing 2 changed files with 24 additions and 7 deletions.
diff --git a/firmware/app/tasks/pos_det.c b/firmware/app/tasks/pos_det.c
@@ -69,21 +69,38 @@ void vTaskPosDet(void)
             /* Predict satellite position */
             struct predict_position my_orbit;
 
-            predict_julian_date_t curr_time = predict_to_julian(system_get_time() - 631065600UL);   /* Unix timestamp in 1989/12/31 00:00:00 UTC */
+            sys_time_t now = system_get_time();
+
+            predict_julian_date_t curr_time = predict_to_julian(now - 631065600UL);   /* Unix timestamp in 1989/12/31 00:00:00 UTC */
 
             predict_orbit(satellite, &my_orbit, curr_time);
 
-            sat_data_buf.obdh.data.latitude     = (uint16_t)(my_orbit.latitude * 180.0 / M_PI);
-            sat_data_buf.obdh.data.longitude    = (uint16_t)(my_orbit.longitude * 180.0 / M_PI);
-            sat_data_buf.obdh.data.altitude     = (uint16_t)(my_orbit.altitude);
-            /* sat_data_buf.obdh.timestamp = system_get_time(); */
+            float lat = my_orbit.latitude * 180.0 / M_PI;
+            float lon = my_orbit.longitude * 180.0 / M_PI;
+            float alt = my_orbit.altitude;
+
+            sat_data_buf.obdh.data.position.latitude    = (int16_t)lat;
+            sat_data_buf.obdh.data.position.longitude   = (int16_t)lon;
+            sat_data_buf.obdh.data.position.altitude    = (int16_t)alt;
+            sat_data_buf.obdh.data.position.timestamp   = now;
+
+            sys_log_print_event_from_module(SYS_LOG_INFO, TASK_POS_DET_NAME, "Current position (lat/lon/alt): ");
+            sys_log_print_float(lat, 2);
+            sys_log_print_msg(" deg/");
+            sys_log_print_float(lon, 2);
+            sys_log_print_msg(" deg/");
+            sys_log_print_float(alt, 2);
+            sys_log_print_msg(" km");
+            sys_log_new_line();
         }
         else
         {
             sys_log_print_event_from_module(SYS_LOG_ERROR, TASK_POS_DET_NAME, "Failed to initialize orbit from TLE!");
             sys_log_new_line();
         }
 
+        predict_destroy_orbital_elements(satellite);
+
         vTaskDelayUntil(&last_cycle, pdMS_TO_TICKS(TASK_POS_DET_PERIOD_MS));
     }
 }

diff --git a/firmware/app/tasks/pos_det.h b/firmware/app/tasks/pos_det.h
@@ -40,8 +40,8 @@
 #include <FreeRTOS.h>
 #include <task.h>
 
-#define TASK_POS_DET_NAME                       "Pos. Det."         /**< Task name. */
-#define TASK_POS_DET_STACK_SIZE                 256                 /**< Stack size in bytes. */
+#define TASK_POS_DET_NAME                       "Position"          /**< Task name. */
+#define TASK_POS_DET_STACK_SIZE                 1024                /**< Stack size in bytes. */
 #define TASK_POS_DET_PRIORITY                   2                   /**< Task priority. */
 #define TASK_POS_DET_PERIOD_MS                  60000               /**< Task period in milliseconds. */
 #define TASK_POS_DET_INIT_TIMEOUT_MS            1000                /**< Wait time to initialize the task in milliseconds. */