nick/overland-controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

firmware: expand sensor telemetry

Browse Source
This commit is contained in:
nick
2026-07-17 03:04:45 -06:00
parent b1a71e7bd1
commit 6d61078484
8 changed files with 82 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
firmware/xiao-esp32c6-sensor-node/rs485_transport.cpp
+15 -1
View File
@@ -22,7 +22,7 @@ void initRs485(HardwareSerial& serial) {
}
void publishSensorStatus(HardwareSerial& serial, const ImuState& imu, const GpsState& gps) {
StaticJsonDocument<1024> doc;
StaticJsonDocument<2048> doc;
doc["type"] = "sensor_status"; doc["schema_version"] = SENSOR_NODE_SCHEMA_VERSION;
doc["node_id"] = SENSOR_NODE_NAME; doc["firmware_version"] = SENSOR_NODE_FIRMWARE_VERSION;
doc["uptime_ms"] = millis();
@@ -31,6 +31,17 @@ void publishSensorStatus(HardwareSerial& serial, const ImuState& imu, const GpsS
i["accuracy"] = imu.accuracy;
JsonObject q = i.createNestedObject("quaternion"); q["i"] = imu.i; q["j"] = imu.j; q["k"] = imu.k; q["real"] = imu.real;
i["yaw_degrees"] = imu.yawDegrees; i["pitch_degrees"] = imu.pitchDegrees; i["roll_degrees"] = imu.rollDegrees;
i["age_ms"] = imu.lastUpdateMs ? millis() - imu.lastUpdateMs : -1;
auto addVector = [&](const char* name, const Vector3State& v) {
JsonObject o = i.createNestedObject(name);
o["x"] = v.x; o["y"] = v.y; o["z"] = v.z; o["accuracy"] = v.accuracy;
o["age_ms"] = v.lastUpdateMs ? millis() - v.lastUpdateMs : -1;
};
addVector("linear_acceleration_mps2", imu.linearAcceleration);
addVector("angular_velocity_rads", imu.angularVelocity);
addVector("gravity_mps2", imu.gravity);
i["stability"] = imu.stability; i["stability_code"] = imu.stabilityCode;
i["stability_age_ms"] = imu.stabilityLastUpdateMs ? millis() - imu.stabilityLastUpdateMs : -1;
JsonObject level = i.createNestedObject("level_calibration");
level["valid"] = levelCalibration.valid; level["active"] = levelCalibration.active;
level["pitch_offset_degrees"] = levelCalibration.pitchOffsetDegrees;
@@ -40,6 +51,9 @@ void publishSensorStatus(HardwareSerial& serial, const ImuState& imu, const GpsS
JsonObject g = doc.createNestedObject("gps");
g["online"] = gps.online; g["fix"] = gps.fix; g["satellites"] = gps.satellites;
g["baud"] = gps.baud;
if (gps.hdopValid) g["hdop"] = gps.hdop; else g["hdop"] = nullptr;
g["location_age_ms"] = gps.locationAgeMs == ULONG_MAX ? -1 : (long)gps.locationAgeMs;
g["time_age_ms"] = gps.timeAgeMs == ULONG_MAX ? -1 : (long)gps.timeAgeMs;
JsonObject nmea = g.createNestedObject("nmea");
nmea["characters"] = gps.charactersProcessed;
nmea["sentences_passed"] = gps.sentencesPassed;