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🤔 Problem Statement

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• Make sure to allocate enough time for each manager so that its processes have enough time to execute

• May have to implement a queue for data

• May have to implement interrupts

ZP 3.5b SM Rearchitecture

The purpose of this rearchitecture is to introduce dependency injection such that it is no longer hardware dependant. Will support a gtest friendly build and a hardware friendly build via injection.

The following are the list of present assumptions in place for each interface rearchitectured SM will deal with.

RC Driver:

• Will support a ->get() method in the interface

• Stucture of respond currently unknown, for now assume it has roll, pitch, yaw, throttle

• Will also support a ->is_data_new() method in the interface

Inter-Manager Queue Driver:

• Will support a ->pop(), ->get() and a ->push()

• Only ->push() is relevant for SM

• Will push any messages that need to go to AM

Attitude Manager:

• Agreed structure for queue messages from SM to AM is attached below:

typedef struct {
    int8_t roll;     // Roll percentage
    int8_t yaw;      // Yaw percentage
    int8_t pitch;    // Pitch percentage
    int8_t throttle; // Throttle percentage
} RCMotorControlMessage_t;

Reference Material

Link to previous SysManager SysManagers

• https://github.com/UWARG/ZeroPilot-SW-3/tree/main/SystemManager

• https://github.com/UWARG/efs-zeropilot-3.5/blob/main/SystemManager/Src/SystemManager.cpp

Link to a simple SysManager https://github.com/UWARG/SimpleSystemManager/blob/master/Core/Src/main.cpp

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