Extend AeroAlign with mixed CoG planning and telemetry base

2026-03-11 23:14:33 +01:00
parent 538c3081bf
commit 56890272a0
28 changed files with 1631 additions and 1332 deletions
@@ -0,0 +1,46 @@
+// SkyLogic AeroAlign - Shared telemetry protocol
+//
+// Common ESP-NOW payload format shared by Master and all remote devices.
+
+#ifndef TELEMETRY_PROTOCOL_H
+#define TELEMETRY_PROTOCOL_H
+
+#include <Arduino.h>
+
+enum DeviceType : uint8_t {
+    DEVICE_TYPE_UNKNOWN = 0x00,
+    DEVICE_TYPE_IMU = 0x01,
+    DEVICE_TYPE_COG_SCALE = 0x02,
+    DEVICE_TYPE_HYBRID = 0x03,
+};
+
+inline const char* deviceTypeToString(DeviceType device_type) {
+    switch (device_type) {
+        case DEVICE_TYPE_IMU:
+            return "IMU";
+        case DEVICE_TYPE_COG_SCALE:
+            return "CoG Scale";
+        case DEVICE_TYPE_HYBRID:
+            return "Hybrid";
+        default:
+            return "Unknown";
+    }
+}
+
+// ESP-NOW packet structure shared across all node types.
+// IMU nodes use pitch/roll/yaw normally.
+// CoG Scale nodes map:
+//   pitch -> front support weight (g)
+//   roll  -> rear support weight (g)
+//   yaw   -> computed CoG position (mm)
+struct __attribute__((packed)) ESPNowPacket {
+    uint8_t node_id;
+    uint8_t device_type;
+    float pitch;
+    float roll;
+    float yaw;
+    uint8_t battery;
+    uint8_t checksum;
+};
+
+#endif // TELEMETRY_PROTOCOL_H