Json format for fsm thresholds

MIDAS/src/finite-state-machines/fsm.cpp

@@ -501,4 +501,4 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla
     }
     return state;
 }
-#endif
+#endif

MIDAS/src/finite-state-machines/fsm.h

@@ -4,7 +4,9 @@
 
 #include "FreeRTOSConfig.h"
 #include "fsm_states.h"
-#include "thresholds.h"
+
+
+
 #include "sensor_data.h"
 #include "Buffer.h"
 #include "rocket_state.h"

MIDAS/src/finite-state-machines/thresholds/stargazer1-4.h

@@ -0,0 +1,102 @@
+#pragma once
+
+// ----------------------------------
+// SECOND STAGE THRESHOLDS
+// ----------------------------------
+struct SustainerThresholds {
+    struct Idle {
+        static constexpr int to_first_boost_acceleration_threshold = 3; // G
+        static constexpr int to_first_boost_time_threshold = 1000; // ms
+    } idle;
+
+    struct Ignition {
+        static constexpr int to_second_boost_acceleration_threshold = 3; // G
+        static constexpr int to_second_boost_time_threshold = 1000; // ms
+        static constexpr int to_coast_timer_threshold = 5000; // ms
+    } ignition;
+
+    struct SecondBoost {
+        static constexpr int to_coast_time_threshold = 1000; // ms
+    } second_boost;
+
+    struct Coast {
+        static constexpr double detection_acceleration_threshold = 0.2; // m/s^2
+        static constexpr int to_apogee_vertical_speed_threshold = 15; // m/s
+    } coast;
+
+    struct Apogee {
+        static constexpr int backto_coast_vertical_speed_threshold = 10; // m/s
+        static constexpr int check_threshold = 1000; // ms
+        static constexpr int timer_threshold = 1000; // ms
+    } apogee;
+
+    struct Drogue {
+        static constexpr int timer_threshold = 3000; // ms
+        static constexpr int jerk_threshold = 200; // m/s^3
+    } drogue;
+
+    struct Main {
+        static constexpr int to_main_deploy_timer_threshold = 3000; // ms
+        static constexpr int deploy_altitude_threshold = 1006; // m
+        static constexpr int jerk_threshold = 300; // m/s^3
+    } main;
+
+    struct Landed {
+        static constexpr int timer_threshold = 5000; // ms
+        static constexpr int vertical_speed_threshold = 3; // m/s
+    } landed;
+
+    struct Burnout {
+        static constexpr int to_first_boost_time_threshold = 1000; // ms
+    } burnout;
+};
+
+// ----------------------------------
+// FIRST STAGE THRESHOLDS
+// ----------------------------------
+struct BoosterThresholds {
+    struct Idle {
+        static constexpr int to_first_boost_acceleration_threshold = 3; // G
+        static constexpr int to_first_boost_time_threshold = 1000; // ms
+    } idle;
+
+    struct FirstSeparation {
+        static constexpr int time_threshold = 3000; // ms
+        static constexpr int jerk_threshold = 300; // m/s^3
+    } first_separation;
+
+    struct Coast {
+        static constexpr double detection_acceleration_threshold = 0.2; // G
+        static constexpr int to_apogee_vertical_speed_threshold = 20; // m/s
+    } coast;
+
+    struct Apogee {
+        static constexpr int check_threshold = 1000; // ms
+        static constexpr int timer_threshold = 1000; // ms
+    } apogee;
+
+    struct Drogue {
+        static constexpr int timer_threshold = 3000; // ms
+        static constexpr int jerk_threshold = 200; // m/s^3
+    } drogue;
+
+    struct Main {
+        static constexpr int to_main_deploy_timer_threshold = 3000; // ms
+        static constexpr int deploy_altitude_threshold = 3000; // m
+        static constexpr int jerk_threshold = 300; // m/s^3
+    } main;
+
+    struct Landed {
+        static constexpr int timer_threshold = 5000; // ms
+        static constexpr int vertical_speed_threshold = 4; // m/s
+    } landed;
+
+    struct Ignition {
+        static constexpr int to_second_boost_time_threshold = 1000; // ms
+        static constexpr int to_coast_timer_threshold = 5000; // ms
+    } ignition;
+
+    struct Burnout {
+        static constexpr int to_first_boost_time_threshold = 1000; // ms
+    } burnout;
+};