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feat: add app heartbeat, some refactor #16

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Merged
Mateusz-Krajewski merged 2 commits into from
Apr 16, 2026
Merged

feat: add app heartbeat, some refactor #16

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a5f6b95
refactor: add app heartbeat, some refactor
Mateusz-Krajewski Apr 15, 2026
ae0c310
Add connection loss state
Mateusz-Krajewski Apr 16, 2026
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53 changes: 36 additions & 17 deletions simba.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,11 @@
<entry value="4" name="SIMBA_ROCKET_STATE_LAUNCH" />
<entry value="5" name="SIMBA_ROCKET_STATE_FLIGHT" />
<entry value="6" name="SIMBA_ROCKET_STATE_APOGEE" />
<entry value="7" name="SIMBA_ROCKET_STATE_FIRT_PARACHUTE_FALL" />
<entry value="8" name="SIMBA_ROCKET_STATE_SECOND_PARACHUTE_ACTIVATION" />
<entry value="9" name="SIMBA_ROCKET_STATE_SECOND_PARACHUTE_FALL" />
<entry value="7" name="SIMBA_ROCKET_STATE_DESCENT_PILOT" />
<entry value="8" name="SIMBA_ROCKET_STATE_SEC_PARACHUTE" />
<entry value="9" name="SIMBA_ROCKET_STATE_DESCENT_MAIN" />
<entry value="10" name="SIMBA_ROCKET_STATE_TOUCHDOWN" />
<entry value="54" name="SIMBA_ROCKET_STATE_CONNECTION_LOST" />
<entry value="64" name="SIMBA_ROCKET_STATE_ABORT" />
</enum>

Expand All @@ -40,25 +42,45 @@
<entry value="1" name="SIMBA_GS_FLAGS_DISARM" />
<entry value="2" name="SIMBA_GS_FLAGS_ARM" />
<entry value="4" name="SIMBA_GS_FLAGS_LAUNCH" />
<entry value="8" name="SSIMBA_GS_FLAGS_ABORT" />
<entry value="8" name="SIMBA_GS_FLAGS_ABORT" />
<entry value="16" name="SIMBA_GS_FLAGS_VENT_VALVE" />
<entry value="32" name="SIMBA_GS_FLAGS_DUMP_VALVE" />
<entry value="64" name="SIMBA_GS_FLAGS_CAMERAS" />
</enum>

<enum name="SIMBA_ROCKET_SERVICE" bitmask="true">
<entry value="1" name="SIMBA_ROCKET_SERVICE_EC_TIMESTAMP_MW" />
<entry value="2" name="SIMBA_ROCKET_SERVICE_EC_I2C_MW" />
<entry value="4" name="SIMBA_ROCKET_SERVICE_EC_GPIO_MW" />
<entry value="8" name="SIMBA_ROCKET_SERVICE_EC_TEMP_MW" />
<entry value="16" name="SIMBA_ROCKET_SERVICE_EC_SERVO" />
<entry value="32" name="SIMBA_ROCKET_SERVICE_EC_ENG" />
<entry value="64" name="SIMBA_ROCKET_SERVICE_EC_ENV" />
<entry value="128" name="SIMBA_ROCKET_SERVICE_EC_LOGGER" />
<entry value="256" name="SIMBA_ROCKET_SERVICE_EC_STAT" />
<entry value="512" name="SIMBA_ROCKET_SERVICE_EC_IGNITER" />
<entry value="1024" name="SIMBA_ROCKET_SERVICE_FC_TIMESTAMP_MW" />
<entry value="2048" name="SIMBA_ROCKET_SERVICE_FC_I2C_MW" />
<entry value="4096" name="SIMBA_ROCKET_SERVICE_FC_GPIO_MW" />
<entry value="8192" name="SIMBA_ROCKET_SERVICE_FC_TEMP_MW" />
<entry value="16384" name="SIMBA_ROCKET_SERVICE_FC_ENV" />
<entry value="32768" name="SIMBA_ROCKET_SERVICE_FC_GPS" />
<entry value="65536" name="SIMBA_ROCKET_SERVICE_FC_REC" />
<entry value="131072" name="SIMBA_ROCKET_SERVICE_FC_RADIO" />
<entry value="262144" name="SIMBA_ROCKET_SERVICE_FC_MAIN" />
<entry value="524288" name="SIMBA_ROCKET_SERVICE_FC_STAT" />
</enum>


</enums>

<messages>
<message id="69" name="SIMBA_TANK_TEMPERATURE">
<message id="69" name="SIMBA_TANK_SENSORS">
<description>Tank temperature sensor readings.</description>
<!-- temp = float * 10 -->
<field type="int16_t" name="upper_tank">Upper tank temperature</field>
<field type="int16_t" name="middle_tank">Middle tank temperature</field>
<field type="int16_t" name="lower_tank">Lower tank temperature</field>
</message>

<message id="70" name="SIMBA_TANK_PRESSURE">
<description>Tank pressure sensor reading.</description>
<!-- pressure = float * 100 -->
<field type="uint16_t" name="pressure">Tank pressure</field>
</message>
Expand Down Expand Up @@ -96,6 +118,7 @@
<message id="73" name="SIMBA_ROCKET_HEARTBEAT">
<description>Rocket heartbeat message sent during whole mission.</description>
<field type="uint64_t" name="timestamp">Timestamp (system uptime in ms)</field>
<field type="uint32_t" enum="SIMBA_ROCKET_SERVICE" name="apps_alive"> Bitmap for all ec and fc apps </field>
<field type="uint8_t" name="flight_computer_state" enum="SIMBA_ROCKET_STATE">Flight computer state</field>
<field type="uint8_t" name="engine_computer_state" enum="SIMBA_ROCKET_STATE">Engine computer state</field>
<field type="uint8_t" name="values" enum="SIMBA_ACTUATOR_FLAGS">Actuator bitmask</field>
Expand All @@ -113,19 +136,15 @@
<field type="int32_t" name="altitude"> Altitude (scaled) [cm] </field>
</message>

<message id="76" name="SIMBA_COMPUTER_TEMPERATURE">
<description> Rocket Computer Temperature in deg </description>
<!-- temp = float * 10 -->
<field type="int16_t" name="eb_temp">Mean Engine Computer temperature</field>
<field type="int16_t" name="mb_temp">Mean Main Computer temperature</field>
</message>

<message id="77" name="SIMBA_COMPUTER_USAGE">
<message id="77" name="SIMBA_COMPUTERS_TELEMETRY">
<description> Rocket Computer Usage </description>
<field type="uint8_t" name="mb_cpu_usage"> Main Computer CPU usage (0-100%)</field>
<field type="uint8_t" name="mb_memory_usage"> Main Computer Memory usage (0-100%)</field>
<field type="uint8_t" name="eb_cpu_usage"> Engine Computer CPU usage (0-100%)</field>
<field type="uint8_t" name="eb_memory_usage"> Engine Computer Memory usage (0-100%)</field>
<!-- temp = static_cast<uint8_t>(float) -->
<field type="uint8_t[3]" name="mb_temperature"> Main Computer Board Temperature (0-128*C)</field>
<field type="uint8_t[3]" name="eb_temperature"> Egine Computer Board Temperature (0-128*C) </field>
</message>

<message id="147" name="SIMBA_ACTUATOR_CMD">
Expand Down
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