Rewriting ground station code

.gitignore

@@ -1,4 +1,5 @@
 .gitattributes
+secrets.h
 *.vscode
 *.json
 *.DS_Store

.vscode/arduino.json

@@ -1,6 +1,7 @@
 {
-    "board": "arduino:samd:arduino_zero_native",
-    "port": "/dev/tty.usbmodem12201",
-    "sketch": "Code/autopilot/autopilot.ino",
-    "output": "../ArduinoOutput"
+    "board": "esp32:esp32:esp32",
+    "port": "/dev/tty.SLAB_USBtoUART",
+    "sketch": "Code/groundStation/groundStation.ino",
+    "output": "../ArduinoOutput",
+    "configuration": "JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=none"
 }

Code/autopilot/autopilot.ino

@@ -41,6 +41,8 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
 #include "waypoint.h"
 #include <Scheduler.h>
 
+// Below are global variables. If you edit these, you'll need to edit vars.h as well.
+
 // GPS vars.
 float lat, lon, altitude, targetLat = TARGET_LAT, targetLon = TARGET_LON, hdop;
 int year, month, day, hour, minute, second, gpsLast;
@@ -360,10 +362,12 @@ void loop3() {
   packet.pressure = pressure;
   packet.humidity = humidity;
   packet.volts = voltage;
-  packet.hdop = hdop;
   packet.yaw = yaw;
   packet.pitch = pitch;
   packet.roll = roll;
+  packet.year = year;
+  packet.month = month;
+  packet.day = day;
   packet.hour = hour;
   packet.minute = minute;
   packet.second = second;
@@ -386,15 +390,28 @@ void loop3() {
     packet.yaw = yaw;
     packet.pitch = pitch;
     packet.roll = roll;
+    packet.year = year;
+    packet.month = month;
+    packet.day = day;
     packet.hour = hour;
     packet.minute = minute;
     packet.second = second;
     packet.txCount++;
     packet.abortFlight = abortFlight;
+#ifdef HAMMING
     sendHammingData(packet); // Sends with forward error correction for redundancy over long distances.
+#endif
+#ifndef HAMMING
+    normalSend(); // Sends without forward error correction.
+#endif
     lastLoRa = millis();
 #endif
   }
+#ifdef HAMMING
   hammingReceive(); // Receive LoRa data to abort flight or change targetLat and targetLon.
+#endif
+#ifndef HAMMING
+  normalReceive(); // Receive LoRa data to abort flight or change targetLat and targetLon.
+#endif
 }
 #endif

Code/autopilot/lora.cpp

@@ -31,23 +31,23 @@ void loraSetup() {
 #endif
 }
 
-void sendData(struct data &newPacket) {
+void sendData(struct data packet) {
   // Wait until the LoRa is ready to send a new packet!
   while (LoRa.beginPacket() == 0) {
     delay(2);
   }
 
   LoRa.beginPacket();
-  LoRa.write((byte *)&newPacket, sizeof(newPacket));
+  LoRa.write((byte *)&packet, sizeof(packet));
   LoRa.endPacket(true); // Use async send.
 }
 
-void sendHammingData(struct data &newPacket) {
-  byte *byteArray = (byte *)&newPacket; // Convert the packet to a byte array.
+void sendHammingData(struct data packet) {
+  byte *byteArray = (byte *)&packet; // Convert the packet to a byte array.
 
-  byte encodedData[2 * sizeof(newPacket)]; // Hamming(7,4) doubles the size!
+  byte encodedData[2 * sizeof(packet)]; // Hamming(7,4) doubles the size!
 
-  for (size_t i = 0; i < sizeof(newPacket); ++i) {
+  for (size_t i = 0; i < sizeof(packet); ++i) {
     byte highNibble = hammingEncode((byteArray[i] >> 4) & 0xF);
     byte lowNibble = hammingEncode(byteArray[i] & 0xF);
 

Code/autopilot/lora.h

@@ -8,8 +8,8 @@
 #include <SPI.h>
 
 void loraSetup();
-void sendData(struct data &newPacket);
-void sendHammingData(struct data &newPacket);
+void sendData(struct data packet);
+void sendHammingData(struct data packet);
 byte hammingEncode(byte data);
 void hammingReceive();
 byte hammingDecode(byte data);

Code/autopilot/settings.h

@@ -33,7 +33,8 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
 // #define DROP_START // Don't start the program until the glider has detected a drop in altitude.
 #define DISPLAY_DATA // Dump the data on the serial monitor every update.
 // #define FLYING_WING  // If enabled, the glider uses flying wing kinematics. If not, it uses the traditional rudder and elevator.
-// #define SERVO_NONBLOCKING // Use non-blocking code for the servo. 
+// #define SERVO_NONBLOCKING // Use non-blocking code for the servo.
+// #define HAMMING // Use hamming encoding for the LoRa data.
 
 // Pins.
 #define LED 13

Code/autopilot/vars.h

@@ -33,9 +33,10 @@ extern float temperature, pressure, bmeAltitude;
 extern int humidity;
 
 struct data {
+  byte alignment = 100;
   float lat, lon, tLat, tLon, altitude, temperature, pressure, humidity, volts, hdop;
   short yaw, pitch, roll;
-  byte hour, minute, second;
+  byte year, month, day, hour, minute, second;
   short txCount;
   byte abortFlight;
   char callSign[7] = CALL_SIGN;