You got a good attitude right there.

New Tools

• OrientationEstimator uses a Madgwick-based orientation filter to combine gyroscope, acclerometer, and magnetometer data to estimate the orientation of the rocket relative to the Earth's surface. During flight, it switches to gyroscope-only updates. The data stream labels of ROLL, PITCH, and YAW were added and connected to our ground station orientation visualizer.

Tool Updates

• The timing of when sectors are erased for DataSaverSPI has been adjusted to occur one page earlier, so that while the buffer is being filled, the next sector is being erased, rather than the sector erase blocking a buffer flush. This eliminates a 50 ms loop time spike that would occur every few seconds on MARTHA 1.4.
• PROBE_TEMPERATURE is added as a data name to DataNames.h for logging the IREC 2026 payload. The name is intentionally generic, so any future external temperature probes can reuse it.
• SensorDataHandler now uses >= to check if enough time has elapsed to save another instance of the data. For example, if a new altitude sample arrives exactly 10 ms after the previous one, and the minimum interval is configured to 10 ms, it will now save the altitude sample instead of waiting for the next one. This was previously causing our altimeter data to be saved only at 20 ms intervals rather than the desired 10 ms.

PR Log

• Fix/erase sector timing by @Elan456 in #92
• On-board Ahrs (orientation estimator) by @Jshepherd06 in #93
• Add PROBE_TEMPERATURE to DataNames.h by @Elan456 in #100

Release Name Significance

“You got a good attitude right there.” comes from the Apollo 11 transcript. Neil Armstrong and Buzz Aldrin were on the lunar surface, while Michael Collins was orbiting in the command module, communicating with Capcom about the command module's desired attitude.

Full Changelog: v0.6.0...v0.7.0