Automatic Beacon

applications/flight/Tasks/radio.py

@@ -26,11 +26,11 @@ def should_transmit():
     Return if we should transmit
     """
     tx_ready = settings.TX_ALLOWED and not tq.empty() and cubesat.radio.fifo_empty()
-    tx_time_ready = time.time() < tx_before_time
+    # tx_time_ready = time.time() < tx_before_time
     if tx_ready:
         global tx_ready_counter
         tx_ready_counter += 1
-    return tx_ready and (tx_ready_counter % TX_SKIP != 0) and tx_time_ready
+    return tx_ready and (tx_ready_counter % TX_SKIP != 0)
 
 class task(Task):
     name = 'radio'

applications/flight/Tasks/telemetry.py

@@ -1,10 +1,15 @@
 # Transmit "Hello World" beacon
 
-from Tasks.log import LogTask as Task
-from pycubed import cubesat
+import time
+
 import files
 import logs
-import time
+from pycubed import cubesat
+from radio_utils import headers
+from radio_utils.message import Message
+from radio_utils.transmission_queue import transmission_queue as tq
+from Tasks.log import LogTask as Task
+
 
 class task(Task):
     name = 'beacon'
@@ -33,6 +38,11 @@ def write_telemetry(self):
         boot = cubesat.c_boot
         current_file = f"/sd/logs/telemetry/{boot:05}/{hour_stamp}"
         telemetry_packet = logs.telemetry_packet(t)
+        self.downlink_telemetry(telemetry_packet)
         file = open(current_file, "ab+")
         file.write(telemetry_packet)
         file.close()
+
+    def downlink_beacon(self, packet):
+        tq.push(Message(10, packet, header=headers.BEACON, with_ack=False))
+        self.debug("beacon added to transmission queue")

applications/flight/lib/logs.py

@@ -11,13 +11,13 @@
 # 3 uint8 + 1 uint16 + 11 float32
 # = 49 bytes of data
 # = 52 byte c struct (1 extra to align chars, 2 extra to align short)
-beacon_format = 3 * 'B' + 'H' + 'f' * 11
+beacon_format = 3 * 'B' + 'H' + 'f' * 14
 
 # Defines what the unpack_beacon will return
 beacon_tuple = namedtuple("beacon_tuple", ("state_index", "datetime_valid_flag", "contact_flag",
                                            "burn_flag", "software_error_count", "boot_count",
                                            "battery_voltage", "cpu_temperature_C", "imu_temperature_C",
-                                           "gyro", "mag", "RSSI_dB", "FEI_Hz"))
+                                           "gyro", "mag", "accel", "RSSI_dB", "FEI_Hz"))
 
 # 6 float32
 # = 24 bytes of data
@@ -55,13 +55,15 @@ def beacon_packet():
     imu_temp = cubesat.temperature_imu if cubesat.imu and cubesat.has_imu_temp else nan
     gyro = cubesat.gyro if cubesat.imu else array([nan, nan, nan])
     mag = cubesat.magnetic if cubesat.imu else array([nan, nan, nan])
+    accel = cubesat.acceleration if cubesat.imu else array([nan, nan, nan])
     rssi = cubesat.radio.last_rssi if cubesat.radio else nan
     fei = cubesat.radio.frequency_error if cubesat.radio else nan
     return struct.pack(beacon_format,
                        state_byte, flags, software_error, boot_count,
                        vbatt, cpu_temp, imu_temp,
                        gyro[0], gyro[1], gyro[2],
                        mag[0], mag[1], mag[2],
+                       accel[0], accel[1], accel[2],
                        rssi, fei)
 
 def system_packet():
@@ -118,16 +120,18 @@ def unpack_beacon(bytes):
      vbatt, cpu_temp, imu_temp,
      gyro0, gyro1, gyro2,
      mag0, mag1, mag2,
+     accel0, accel1, accel2,
      rssi, fei) = struct.unpack(beacon_format, bytes)
 
     gyro = array([gyro0, gyro1, gyro2])
     mag = array([mag0, mag1, mag2])
+    accel = array([accel0, accel1, accel2])
 
     return beacon_tuple(state_byte, bool(flags & (0b1 << 2)), bool(flags & (0b1 << 1)),
                         bool(flags & (0b1 << 0)), software_error,
                         boot_count, vbatt, cpu_temp,
                         imu_temp, gyro, mag,
-                        rssi, fei)
+                        accel, rssi, fei)
 
 
 def unpack_system(bytes):