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[FEAT] navigation_test_command 추가, missile_target_state에서 미사일 각속도, 가속도 추가, icd_id 추가 #51

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Merged
leaf-nam merged 3 commits into from
Apr 22, 2026
Merged

[FEAT] navigation_test_command 추가, missile_target_state에서 미사일 각속도, 가속도 추가, icd_id 추가 #51

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navigation_test_command 추가, missile_target_state에서 미사일 각속도, 가속도 추가, i…
kbg8146 Apr 22, 2026
4d9299f
주석 수정
kbg8146 Apr 22, 2026
c45fb6f
Merge branch 'main' into gcu
leaf-nam Apr 22, 2026
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29 changes: 25 additions & 4 deletions include/dto/missile_target_state.h
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Expand Up @@ -6,9 +6,16 @@
#include "../enum/icd_id.h"

// ICD-26: 미사일/표적 참값 상태 (UI -> GCU, 100ms)
// SILS 1단계 UI-GCU 통합 ICD — 미사일(6필드) + 표적(6필드) 참값 전달
// 좌표계: NED (발사점 원점)
// 위치 스케일 0.01 m (cm), 속도 스케일 0.001 m/s (mm/s)
// SILS 통합 ICD — 미사일(위치·속도·쿼터니언·각속도) + 표적(위치·속도)
// 좌표계:
// - 위치/속도: NED (발사점 원점)
// - 쿼터니언/각속도: Body
// 스케일:
// - 위치: 0.01 m (cm)
// - 속도: 0.001 m/s (mm/s)
// - 쿼터니언: 0.001 (단위 쿼터니언, |q|=1)
// - 각속도: 0.001 rad/s
// - 가속도: 0.001 m/s² (mm/s²)
#pragma pack(push, 1)
struct MissileTargetState {
IcdId message_id;
Expand All @@ -23,12 +30,26 @@ struct MissileTargetState {
int32_t missile_vel_e;
int32_t missile_vel_d;

// 미사일 쿼터니언
// 미사일 쿼터니언 (Body → NED 회전, 0.001 scalar)
int32_t q_w;
int32_t q_x;
int32_t q_y;
int32_t q_z;

// 미사일 각속도 (Body frame, 0.001 rad/s)
// omega_p : roll rate (body X)
// omega_q : pitch rate (body Y)
// omega_r : yaw rate (body Z)
int32_t omega_p;
int32_t omega_q;
int32_t omega_r;

// 미사일 가속도 (Body frame, 0.001 m/s²)
// IMU 가속도계 측정값 (specific force)
int32_t accel_x; // body X (전방)
int32_t accel_y; // body Y (우측)
int32_t accel_z; // body Z (아래)

// 표적 위치 (발사점 기준 NED, 0.01 m)
int32_t target_pos_n;
int32_t target_pos_e;
Expand Down
12 changes: 9 additions & 3 deletions include/dto/navigation_test_command.h
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Original file line number Diff line number Diff line change
@@ -1,13 +1,19 @@
#ifndef NAVIGATION_TEST_COMMAND_H
#define NAVIGATION_TEST_COMMAND_H

#include <cstdint>

#include "../enum/icd_id.h"

// ICD-27: 항법시험 명령 (UI -> GCU)
// 시험 시작/종료 알림
// start = 1 : 시험 시작 (ICD-26/25 송수신 시작)
// start = 0 : 시험 종료 (UART 입력으로 알고리즘 변경 가능)
#pragma pack(push, 1)
struct NavigationTestCommand {
IcdId message_id;
bool is_start; // 테스트 시작 여부(1 = 시작, 0 = 종료)
IcdId message_id;
uint8_t start; // 1 = 시작, 0 = 종료
};
#pragma pack(pop)

#endif // NAVIGATION_TEST_COMMAND_H
#endif // NAVIGATION_TEST_COMMAND_H
63 changes: 34 additions & 29 deletions include/enum/icd_id.h
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Expand Up @@ -4,34 +4,39 @@
#include <cstdint>

enum class IcdId : uint16_t {
COMMON_PARAMETER = 0x0000, // 공통매개변수(common_parameter)
ACT_INFO = 0x0001, // ACT정보(act_info)
FULL_SYSTEM_INFO = 0x0002, // 부체계 정보 및 GCU 정보(full_system_info)
INS_DATA = 0x0003, // INS값(ins_data)
INS_INFO = 0x0004, // INS정보(ins_info)
SKR_INFO = 0x0005, // SKR정보(skr_info)
FEATURE_INSPECT_COMMAND = 0x0006, // 기능점검명령(feature_inspect_command)
FEATURE_INSPECT_READY_RES = 0x0007, // 기능점검준비완료응답(feature_inspect_ready_res)
TARGET_DISTANCE_REQ = 0x0008, // 목표거리오차요청(target_distance_req)
TARGET_DISTANCE_RES = 0x0009, // 목표거리오차응답(target_distance_res)
POSITION_REQ = 0x000A, // 자세요청(position_req)
POSITION_RES = 0x000B, // 자세응답(position_res)
PIN_CONTROL_REQ = 0x000C, // 핀제어요청(pin_control_req)
PIN_CONTROL_RES = 0x000D, // 핀제어응답(pin_control_res)
FEATURE_INSPECT_FINISH_COMMAND = 0x000E, // 기능점검종료명령(feature_inspect_finish_command)
FEATURE_INSPECT_FINISH_RES = 0x000F, // 기능점검종료응답(feature_inspect_finish_res)
ONE_TEST_RESULT = 0x0010, // 1회 수행결과 전송(one_test_result)
REBOOT_COMMAND = 0x0011, // 재부팅 명령 전송(reboot_command)
REBOOT_RES = 0x0012, // 재부팅 명령 응답(reboot_res)
FEATURE_INSPECT_READY_COMMAND = 0x0013, // 기능점검준비완료명령(feature_inspect_ready_command)
ACT_DATA = 0x0014, // ACT값(act_data)
INS_MAIN_DATA = 0x0015, // INS실제값(ins_main_data)
SKR_MAIN_DATA = 0x0016, // SKR실제값(skr_main_data)
PIN_CONTROL_MAIN_COMMAND = 0x0017, // 핀제어실제명령(pin_control_main_command)

// SILS 1단계 (SRS-GCU-05 항법유도) 신규
GUIDANCE_COMMAND = 0x0018, // 유도 명령 (guidance_command)
MISSILE_TARGET_STATE = 0x0019 // 미사일/표적 참값 상태 (missile_target_state)
COMMON_PARAMETER = 0x0000, // 공통매개변수(common_parameter)
ACT_INFO = 0x0001, // ACT정보(act_info)
FULL_SYSTEM_INFO = 0x0002, // 부체계 정보 및 GCU 정보(full_system_info)
INS_DATA = 0x0003, // INS값(ins_data)
INS_INFO = 0x0004, // INS정보(ins_info)
SKR_INFO = 0x0005, // SKR정보(skr_info)
FEATURE_INSPECT_COMMAND = 0x0006, // 기능점검명령(feature_inspect_command)
FEATURE_INSPECT_READY_RES =
0x0007, // 기능점검준비완료응답(feature_inspect_ready_res)
TARGET_DISTANCE_REQ = 0x0008, // 목표거리오차요청(target_distance_req)
TARGET_DISTANCE_RES = 0x0009, // 목표거리오차응답(target_distance_res)
POSITION_REQ = 0x000A, // 자세요청(position_req)
POSITION_RES = 0x000B, // 자세응답(position_res)
PIN_CONTROL_REQ = 0x000C, // 핀제어요청(pin_control_req)
PIN_CONTROL_RES = 0x000D, // 핀제어응답(pin_control_res)
FEATURE_INSPECT_FINISH_COMMAND =
0x000E, // 기능점검종료명령(feature_inspect_finish_command)
FEATURE_INSPECT_FINISH_RES =
0x000F, // 기능점검종료응답(feature_inspect_finish_res)
ONE_TEST_RESULT = 0x0010, // 1회 수행결과 전송(one_test_result)
REBOOT_COMMAND = 0x0011, // 재부팅 명령 전송(reboot_command)
REBOOT_RES = 0x0012, // 재부팅 명령 응답(reboot_res)
FEATURE_INSPECT_READY_COMMAND =
0x0013, // 기능점검준비완료명령(feature_inspect_ready_command)
ACT_DATA = 0x0014, // ACT값(act_data)
INS_MAIN_DATA = 0x0015, // INS실제값(ins_main_data)
SKR_MAIN_DATA = 0x0016, // SKR실제값(skr_main_data)
PIN_CONTROL_MAIN_COMMAND =
0x0017, // 핀제어실제명령(pin_control_main_command)
GUIDANCE_COMMAND = 0x0018, // 유도 명령 (guidance_command)
MISSILE_TARGET_STATE =
0x0019, // 미사일/표적 참값 상태 (missile_target_state)
NAVIGATION_TEST_COMMAND = 0x001A // 항법시험 명령 (navigation_test_command)
};

#endif // ICD_ID_H
#endif // ICD_ID_H