New State of Health #235

JamesDCowley · 2025-04-17T05:38:35Z

Summary

Closes #159 (finally). Created a new State of Health class to hold information from a bunch of sensors such as temperatures, voltage, current, etc. Will be used for upcoming Mode Manager to manage power states.

How was this tested

Added new unit tests
Ran code on hardware (screenshots are helpful)

(Power monitor stuff is null but does work with a working battery board, but ours blew up)
Works on v4 flight boards with v2 battery boards. Make sure to import and add the INA219Manager and StateOfHealth into main.py on whatever version repo.

main.py For v4 flight + v2 battery (will be added in upcoming PR to v4 and v5 boards):

from lib.pysquared.hardware.power_monitor.manager.ina219 import INA219Manager
...
from lib.pysquared.state_of_health import StateOfHealth
...
# v4 only -- use i2c1 for v5
i2c0 = initialize_i2c_bus(
        logger,
        board.I2C0_SCL,
        board.I2C0_SDA,
        100000,
)
...
battery_power_monitor = INA219Manager(logger, i2c0, 0x40) # address and bus may be different depending on your board
soh = StateOfHealth(
        logger,
        battery_power_monitor,
        solar_power_monitor,
        radio,
        imu,
        Counter(index=register.BOOTCNT, datastore=microcontroller.nvm), # boot count
        Flag(index=register.FLAG, bit_index=6, datastore=microcontroller.nvm), # burned
        Flag(index=register.FLAG, bit_index=3, datastore=microcontroller.nvm), # brownout
        Flag(index=register.FLAG, bit_index=7, datastore=microcontroller.nvm), # fsk
)
# you can put None in place of the power monitors if you don't have a battery board and are using a v4 flight board
...
def main():
...
        state_of_health.update()
...

Other (Please describe)

… health pre-repo organization to work with new repo structure)

…re retrieval

…th methods

… for boot count and flags

Copilot

Pull Request Overview

This PR introduces a new State of Health class for aggregating sensor data, including voltage, current, and temperature measurements from various monitoring components. Key changes include the addition of a new StateOfHealth class, comprehensive unit tests covering its behavior, and the removal of legacy state-of-health formatting functions from pysquared/functions.py.

Reviewed Changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.

File	Description
tests/unit/test_state_of_health.py	New unit tests validating sensor readings and state update functionality.
pysquared/state_of_health.py	New StateOfHealth class implementing sensor value aggregation and state update.
pysquared/functions.py	Removal of obsolete state-of-health methods in favor of the new implementation.

pysquared/state_of_health.py

Co-authored-by: Copilot <[email protected]>

sonarqubecloud · 2025-04-19T23:08:08Z

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
81.7% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

… into new-state-of-health

nateinaction

This is a pretty great refactor from the old state of health. Thank you for extracting this functionality from functions.py. This feels like the start of a new "services" layer in pysquared.

While you were still building out the ina219 power monitor manager I remember us talking about how useful the protos could be in creating a generic state of health service. While not as customized as this implementation, in #240 I took a swing at spinning up a generic state of health service just to see what it could look like. How do you think of the generic model compares to what you have here?

nateinaction · 2025-04-21T06:21:34Z

pysquared/functions.py

I like that you're removing things from functions.py. Thank you!

nateinaction · 2025-04-21T06:23:13Z

pysquared/state_of_health.py

+        """
+        Update the state of health
+        """
+        try:


Looking over the calls in this try/except I think that none of these calls have the possibility of raising an exception. What are you seeing?

pysquared/state_of_health.py

nateinaction · 2025-04-21T06:25:50Z

pysquared/state_of_health.py

+                        self.battery_power_monitor.get_bus_voltage()
+                        + self.battery_power_monitor.get_shunt_voltage()


Where does this idea for adding these two voltages together come from?

This was based on the legacy implementation that we took from Max Holliday's PyCubed!

Good flag on this Nate, because looking at it again I realized that the implementation of system_voltage() and battery_voltage() is incorrect. The legacy PyCubed implementation uses an ADM1176 power monitor chip whereas our PySquared boards use the INA219 power monitor chip.

This code should actually be changed so the bus_voltage() + shunt_voltage() call is in the battery_voltage() instead. This is explained a bit in Adafruit's guide for the INA219:

# INA219 measure bus voltage on the load side. So PSU voltage = bus_voltage + shunt_voltage print("Voltage (VIN+) : {:6.3f} V".format(bus_voltage + shunt_voltage))

system_voltage() should just be based on bus_voltage, which is the actual amount of voltage available to the system vs what the voltage of the batteries is.

Mikefly123

Noticed based on Nate's comments that there should be a slight change to the implementation of the system_voltage() and battery_voltage() calls!

Mikefly123 · 2025-04-21T19:36:41Z

pysquared/state_of_health.py

+                        self.battery_power_monitor.get_bus_voltage()
+                        + self.battery_power_monitor.get_shunt_voltage()


This was based on the legacy implementation that we took from Max Holliday's PyCubed!

Good flag on this Nate, because looking at it again I realized that the implementation of system_voltage() and battery_voltage() is incorrect. The legacy PyCubed implementation uses an ADM1176 power monitor chip whereas our PySquared boards use the INA219 power monitor chip.

This code should actually be changed so the bus_voltage() + shunt_voltage() call is in the battery_voltage() instead. This is explained a bit in Adafruit's guide for the INA219:

# INA219 measure bus voltage on the load side. So PSU voltage = bus_voltage + shunt_voltage print("Voltage (VIN+) : {:6.3f} V".format(bus_voltage + shunt_voltage))

system_voltage() should just be based on bus_voltage, which is the actual amount of voltage available to the system vs what the voltage of the batteries is.

Co-authored-by: JamesDCowley <[email protected]>

nateinaction

This is on a good track. Talking with Michael, since there is nothing we can do on the satellite to fix an overheating condition we should slim this down so that we only care about battery charge.

Mikefly123 · 2025-06-11T00:58:35Z

@nateinaction I think it could go either way with keeping the temperature monitoring in here for flavor or splitting it off into a dedicated thermal manager / interface. It is true that right now there is not actually much we can do in response to our of range temperatures and it is mostly just a nice FYI for the ground operators.

If you'd like I can see if someone on my team has some time to address the test and typecheck errors so we can more forward with this.

JamesDCowley and others added 11 commits April 4, 2025 18:08

added state of health (not working, currently converting old state of…

0b47e2d

… health pre-repo organization to work with new repo structure)

remove unused function parameter and update microcontroller temperatu…

ac8c555

…re retrieval

remove deprecated state of health methods from functions class

3a15ef7

Add null checks for battery and solar power monitors in state of heal…

d5811af

…th methods

Add unit tests for StateOfHealth class methods

874923a

all tests passing

581230c

remove unused Satellite parameter and replace it with Flag parameters…

a5973f3

… for boot count and flags

boot_count uses Counter and update state retrieval methods

fc99a88

Remove uptime from soh

020033d

Add fsk_flag

89af0bc

all tests pass + fmt

91c75e5

JamesDCowley marked this pull request as ready for review April 18, 2025 23:05

Mikefly123 requested a review from Copilot April 19, 2025 00:56

Copilot AI reviewed Apr 19, 2025

View reviewed changes

pysquared/state_of_health.py Outdated Show resolved Hide resolved

boot_count flag -> counter

2e101fc

Co-authored-by: Copilot <[email protected]>

Merge branch 'main' of github.com:proveskit/circuitpy_flight_software…

00e7ccd

… into new-state-of-health

nateinaction reviewed Apr 21, 2025

View reviewed changes

Mikefly123 requested changes Apr 21, 2025

View reviewed changes

nateinaction and others added 2 commits June 10, 2025 19:23

New new state of health (#261)

6f912d3

Co-authored-by: JamesDCowley <[email protected]>

Merge branch 'main' into new-state-of-health

44aeddb

nateinaction requested changes Jun 10, 2025

View reviewed changes

yudataguy self-assigned this Jun 11, 2025

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New State of Health #235

New State of Health #235

JamesDCowley commented Apr 17, 2025 •

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		self.battery_power_monitor.get_bus_voltage()
		+ self.battery_power_monitor.get_shunt_voltage()

New State of Health #235

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New State of Health #235

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JamesDCowley commented Apr 17, 2025 •

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