Onur Özkan
f9a61a086f
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
97 lines
3.2 KiB
Rust
97 lines
3.2 KiB
Rust
use kaptan_flight_config::profile::*;
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use kaptan_math::Vector3;
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use kaptan_navigation::{
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BarometricReference, CalibrationRevision, ContactGeometry, FrameId, NavigationInstallation,
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NavigationSources, RangeInstallation, SensorReferenceId, SourceId,
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};
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pub const fn candidate() -> CandidateProfile {
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CandidateProfile {
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safety: SafetySettings {
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prearm_dwell_microseconds: 500_000,
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},
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timing: TimingSettings {
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maximum_imu_interval_microseconds: 20_000,
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imu_freshness_microseconds: 20_000,
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local_state_freshness_microseconds: 250_000,
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offboard_timeout_microseconds: 300_000,
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},
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control: ControlSettings {
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position_gain_per_second_squared: 0.8,
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velocity_gain_per_second: 1.2,
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maximum_horizontal_acceleration_mps2: 3.0,
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maximum_upward_acceleration_mps2: 2.0,
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maximum_downward_acceleration_mps2: 2.0,
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attitude_roll_pitch_gain_per_second: 4.0,
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attitude_yaw_gain_per_second: 2.0,
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},
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thrust: ThrustSettings {
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mass_kg: 1.2,
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maximum_collective_thrust_newtons: 18.0,
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maximum_tilt_tangent: 0.700_207_53,
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},
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rate_pid: PidSettings {
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proportional: 0.080,
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integral: 0.006,
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derivative: 0.0,
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output_limit: 0.10,
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integral_limit: 0.025,
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yaw_proportional: 0.990,
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yaw_integral: 0.074,
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},
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actuator_limits: ActuatorLimits {
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minimum: 0.0,
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maximum: 1.0,
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slew_per_second: 8.0,
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},
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flight: FlightSettings {
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command_ttl_us: 250_000,
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fallback_hold_us: 1_000_000,
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output_lifetime_us: 50_000,
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control_period_us: 10_000,
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control_deadline_us: 20_000,
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time_error_bound_us: 2_000,
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gyro_psd: 2.5e-7,
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acceleration_psd: 2.5e-5,
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gyro_bias_psd: 1e-10,
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acceleration_bias_psd: 1e-8,
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barometric_datum_psd: 1e-5,
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},
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}
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}
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pub const fn installation() -> NavigationInstallation {
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NavigationInstallation {
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sources: NavigationSources {
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imu: SourceId::new(1),
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local_position_velocity: SourceId::new(2),
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magnetic: SourceId::new(3),
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pressure: SourceId::new(4),
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range: SourceId::new(5),
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},
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range: RangeInstallation {
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frame: FrameId::new(3),
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offset_frd_metres: Vector3::new(0.0, 0.0, 0.04),
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direction_frd: Vector3::new(0.0, 0.0, 1.0),
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quantization_error_metres: 0.0005,
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},
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contact: ContactGeometry {
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half_span_x_metres: 0.12,
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half_span_y_metres: 0.12,
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centre_z_metres: 0.065,
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radius_metres: 0.015,
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},
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atmosphere: BarometricReference {
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pressure_pascals: 101_325.0,
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temperature_kelvin: 288.15,
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},
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magnetic_field_ned_microtesla: Vector3::new(20.0, 0.0, 45.0),
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calibration: CalibrationRevision::new(1),
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reference: SensorReferenceId(1),
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}
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}
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pub const fn capabilities() -> VehicleCapabilities {
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VehicleCapabilities::quad_x(installation())
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}
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