app Directory Reference

Directory dependency graph for app:

Files
	app_config.h
	Phase-1 configuration: P-NUCLEO-WB55 (NUCLEO-WB55RG) + X-NUCLEO-IKS4A1 in Mode 3 (LSM6DSV16X is the sensor-hub master, LIS2MDL sits behind it).
	app_main.c
	Phase 1: multi-rate attitude estimation on STM32WB55, control hooks in place.
	app_main.h
	Integration into main.c (CubeMX, CMSIS-RTOS2):
	app_task.c
	AppTask (see app_task.h).
	app_task.h
	AppTask: ACwing Pilot protocol v2 (HANDOVER_FW.md) on the drone side.
	batt_task.c
	BattTask (see batt_task.h).
	batt_task.h
	BattTask: owns the battery ADC and the battery monitor (battery.c).
	cfg_store.c
	A/B image selection, CRC (see cfg_store.h).
	cfg_store.h
	Persistent configuration: parameters, drone name, calibrations and one backup per calibration type (HANDOVER_FW.md §8, §10).
	est_config.c
	Production estimator configuration (see est_config.h).
	est_config.h
	The production configuration of the attitude estimator, built from app_config.h in one place, so the firmware and the host tests run the same numbers.
	est_pipeline.c
	est_pipeline.h
	Multi-rate estimation pipeline, WITHOUT any HAL or RTOS dependency.
	ext_sens.c
	ExtTask: VL53L1X + flow bridge on the Qwiic bus (see ext_sens.h).
	ext_sens.h
	Expansion sensors on the Qwiic bus (ACwing Flow rev A): VL53L1X ToF and the optical-flow bridge.
	fc_shared.c
	fc_shared.h
	Data exchanged between the flight context (ImuTask) and the AppTask.
	log_task.c
	LogTask (see log_task.h).
	log_task.h
	LogTask: owns the log flash, writes the flight log and serves the log download over USB.
	params.c
	Parameter table and rules (see params.h).
	params.h
	Drone parameters of protocol v2 (HANDOVER_FW.md §8, ids.ts PARAMS).
	tlm_build.c
	Note: fields of the packed structs are ALWAYS filled via memcpy from aligned local variables (see telemetry.h: unaligned VSTR -> HardFault).
	tlm_build.h
	Builds telemetry frames from the pipeline state.