Last Minute Improvements For RISK Flight In Less Than 12 Hours :)

app/backplane/radio_module/include/c_downlink_scheduler_tenant.h

@@ -51,6 +51,10 @@ class CDownlinkSchedulerTenant : public CRunnableTenant, public CPadFlightLanded
     void GroundRun() override;
 
   private:
+    // Send a telemetry frame, piggybacking the flight phase onto GNSS frames
+    // (port 12005) so the ground can observe the radio's state.
+    void SendFrame(LaunchLoraFrame& frame);
+
     CMessagePort<LaunchLoraFrame>& loraDownlinkMessagePort;
     CHashMap<uint16_t, CMessagePort<LaunchLoraFrame>*> telemetryMessagePortMap;
     CHashMap<uint16_t, std::unique_ptr<CSoftTimer>> telemetryDownlinkTimers;

app/backplane/radio_module/src/c_downlink_scheduler_tenant.cpp

@@ -23,6 +23,18 @@ CDownlinkSchedulerTenant::CDownlinkSchedulerTenant(
         }(telemetryDownlinkTimers.GetPtr(NNetworkDefs::RADIO_MODULE_GNSS_DATA_PORT)));
 }
 
+void CDownlinkSchedulerTenant::SendFrame(LaunchLoraFrame& frame) {
+    // Piggyback the flight phase onto GNSS frames. Reflects the radio's belief
+    // of the phase, not independent confirmation of physical events.
+    if (frame.Port == NNetworkDefs::RADIO_MODULE_GNSS_DATA_PORT && frame.Size < sizeof(frame.Payload)) {
+        frame.Payload[frame.Size++] = static_cast<uint8_t>(state);
+    }
+
+    if (loraDownlinkMessagePort.Send(frame, K_NO_WAIT) < 0) {
+        LOG_ERR("Failed to send telemetry frame on port %d", frame.Port);
+    }
+}
+
 void CDownlinkSchedulerTenant::HandleFrame(const ReceivedLaunchLoraFrame& rxFrame) {
     const LaunchLoraFrame& frame = rxFrame.Frame;
     if (this->state == State::PAD || this->state == State::LANDED) {
@@ -43,10 +55,7 @@ void CDownlinkSchedulerTenant::HandleFrame(const ReceivedLaunchLoraFrame& rxFram
                 LOG_ERR("Failed to receive telemetry frame on port %d", port);
             }
 
-            ret = loraDownlinkMessagePort.Send(telemFrame, K_NO_WAIT);
-            if (ret < 0) {
-                LOG_ERR("Failed to send telemetry frame on port %d", port);
-            }
+            SendFrame(telemFrame);
         }
     }
 }
@@ -83,10 +92,7 @@ void CDownlinkSchedulerTenant::FlightRun() {
                 continue;
             }
 
-            ret = loraDownlinkMessagePort.Send(telemFrame, K_NO_WAIT);
-            if (ret < 0) {
-                LOG_ERR("Failed to send telemetry frame on port %d", port);
-            }
+            SendFrame(telemFrame);
         }
     }
 }
@@ -107,10 +113,7 @@ void CDownlinkSchedulerTenant::LandedRun() {
             return;
         }
 
-        ret = loraDownlinkMessagePort.Send(telemFrame, K_NO_WAIT);
-        if (ret < 0) {
-            LOG_ERR("Failed to send GNSS telemetry frame");
-        }
+        SendFrame(telemFrame);
     }
 }
 

app/backplane/sensor_module/include/c_detection_handler.h

@@ -45,6 +45,14 @@ class CDetectionHandler {
     static constexpr uint64_t BOOST_NOT_YET_HAPPENED = ~0;
     uint64_t boost_detected_time = BOOST_NOT_YET_HAPPENED;
 
+    static constexpr uint32_t alertResendCycles = 20;
+    uint32_t boostAlertResendsRemaining = 0;
+    uint32_t landedAlertResendsRemaining = alertResendCycles;
+
+    // Rebroadcast the landed alert once GroundHit occurs. Covers both the
+    // barometer and timer paths, and survives UDP loss like the boost alert.
+    void ServiceLandedAlert();
+
     /**
      * Process sensor information 
      * @param uptime uptime in milliseconds of the system

app/backplane/sensor_module/src/c_detection_handler.cpp

@@ -42,6 +42,15 @@ void CDetectionHandler::HandleData(const uint64_t timestamp, const NTypes::Senso
 
     if (!controller.HasEventOccurred(Events::Boost)) {
         HandleBoost(timestamp, data, sensor_states);
+        if (controller.HasEventOccurred(Events::Boost)) {
+            // Boost confirmed so record for noseover and ground detection to 
+            // measure time since boost and schedule rebroadcast of alert 
+            boost_detected_time = timestamp;
+            boostAlertResendsRemaining = alertResendCycles;
+        }
+    } else if (boostAlertResendsRemaining > 0) {
+        alertMessagePort.Send(boostNotification);
+        boostAlertResendsRemaining--;
     }
     // Don't worry about the rest until we've got boost
     if (!controller.HasEventOccurred(Events::Boost)) {
@@ -75,11 +84,16 @@ void CDetectionHandler::HandleGround(const uint32_t t_plus_ms, const NTypes::Sen
 
     if (primaryBaromGroundDetector.Passed() && sensor_states.primaryBarometerOk) {
         controller.SubmitEvent(Sources::BaromMS5611, Events::GroundHit);
-        alertMessagePort.Send(landedNotification);
     }
     if (secondaryBaromGroundDetector.Passed() && sensor_states.secondaryBarometerOk) {
         controller.SubmitEvent(Sources::BaromBMP, Events::GroundHit);
+    }
+}
+
+void CDetectionHandler::ServiceLandedAlert() {
+    if (controller.HasEventOccurred(Events::GroundHit) && landedAlertResendsRemaining > 0) {
         alertMessagePort.Send(landedNotification);
+        landedAlertResendsRemaining--;
     }
 }
 

app/backplane/sensor_module/src/c_sensing_tenant.cpp

@@ -55,6 +55,7 @@ void CSensingTenant::Startup() {
 void CSensingTenant::PostStartup() {}
 
 void CSensingTenant::Run() {
+    detectionHandler.ServiceLandedAlert();
     if (!detectionHandler.ContinueCollecting()) {
         return;
     }