eive-obsw/mission/controller/acs/SensorProcessing.cpp

#include "SensorProcessing.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/timevalOperations.h>
#include <math.h>

#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "Igrf13Model.h"
#include "util/MathOperations.h"

using namespace Math;

SensorProcessing::SensorProcessing() {}

SensorProcessing::~SensorProcessing() {}

void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
                                  bool mgm1valid, const float *mgm2Value, bool mgm2valid,
                                  const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
                                  bool mgm4valid, timeval timeOfMgmMeasurement,
                                  const AcsParameters::MgmHandlingParameters *mgmParameters,
                                  acsctrl::GpsDataProcessed *gpsDataProcessed,
                                  const double gpsAltitude, bool gpsValid,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed) {
  // ---------------- IGRF- 13 Implementation here
  // ------------------------------------------------
  double magIgrfModel[3] = {0.0, 0.0, 0.0};
  if (gpsValid) {
    Igrf13Model igrf13;
    igrf13.schmidtNormalization();
    igrf13.updateCoeffGH(timeOfMgmMeasurement);
    // maybe put a condition here, to only update after a full day, this
    // class function has around 700 steps to perform
    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
  }
  if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
    {
      PoolReadGuard pg(mgmDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {
        std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
        mgmDataProcessed->setValidity(false, true);
        std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
        mgmDataProcessed->magIgrfModel.setValid(gpsValid);
      }
    }
    return;
  }
  float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
        mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
        mgm4ValueNoBias[3] = {0, 0, 0};
  float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
        mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
  float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};

  if (mgm0valid) {
    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
                                      mgm0ValueBody, 3, 3, 1);
    VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
                                      mgm0ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
                                      mgm0ValueCalib, 3, 3, 1);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
    }
  }
  if (mgm1valid) {
    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
                                      mgm1ValueBody, 3, 3, 1);
    VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
                                      mgm1ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
                                      mgm1ValueCalib, 3, 3, 1);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
    }
  }
  if (mgm2valid) {
    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
                                      mgm2ValueBody, 3, 3, 1);
    VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
                                      mgm2ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
                                      mgm2ValueCalib, 3, 3, 1);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
    }
  }
  if (mgm3valid) {
    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
                                      mgm3ValueBody, 3, 3, 1);
    VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
                                      mgm3ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
                                      mgm3ValueCalib, 3, 3, 1);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
    }
  }
  if (mgm4valid) {
    float mgm4ValueUT[3];
    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
                                      mgm4ValueBody, 3, 3, 1);
    VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
                                      mgm4ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
                                      mgm4ValueCalib, 3, 3, 1);

    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
      sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
    }
  }
  double mgmVecTot[3] = {0.0, 0.0, 0.0};
  for (uint8_t i = 0; i < 3; i++) {
    mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
  }
  if (VectorOperations<double>::norm(mgmVecTot, 3) != 0 and mgmDataProcessed->mgmVecTot.isValid()) {
    lowPassFilter(mgmVecTot, mgmDataProcessed->mgmVecTot.value,
                  mgmParameters->mgmVectorFilterWeight);
  }

  //-----------------------Mgm Rate Computation ---------------------------------------------------
  double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
  bool mgmVecTotDerivativeValid = false;
  double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0) {
    for (uint8_t i = 0; i < 3; i++) {
      mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
      savedMgmVecTot[i] = mgmVecTot[i];
      mgmVecTotDerivativeValid = true;
    }
  }
  timeOfSavedMagFieldEst = timeOfMgmMeasurement;

  if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
      mgmDataProcessed->mgmVecTotDerivative.isValid()) {
    lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
                  mgmParameters->mgmDerivativeFilterWeight);
  }

  {
    PoolReadGuard pg(mgmDataProcessed);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
      mgmDataProcessed->mgm0vec.setValid(mgm0valid);
      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
      mgmDataProcessed->mgm1vec.setValid(mgm1valid);
      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
      mgmDataProcessed->mgm2vec.setValid(mgm2valid);
      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
      mgmDataProcessed->mgm3vec.setValid(mgm3valid);
      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
      mgmDataProcessed->mgm4vec.setValid(mgm4valid);
      std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
      mgmDataProcessed->mgmVecTot.setValid(true);
      std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, mgmVecTotDerivative,
                  3 * sizeof(double));
      mgmDataProcessed->mgmVecTotDerivative.setValid(mgmVecTotDerivativeValid);
      std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
      mgmDataProcessed->magIgrfModel.setValid(gpsValid);
      mgmDataProcessed->setValidity(true, false);
    }
  }
}

void SensorProcessing::processSus(
    const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value, bool sus1valid,
    const uint16_t *sus2Value, bool sus2valid, const uint16_t *sus3Value, bool sus3valid,
    const uint16_t *sus4Value, bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
    const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
    const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
    const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
    timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
    const AcsParameters::SunModelParameters *sunModelParameters,
    acsctrl::SusDataProcessed *susDataProcessed) {
  /* -------- Sun Model Direction (IJK frame) ------- */
  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);

  // Julean Centuries
  double sunIjkModel[3] = {0.0, 0.0, 0.0};
  double JC2000 = JD2000 / 36525.;

  double meanLongitude =
      sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * PI / 180.;
  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;

  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
                             sunModelParameters->p2 * sin(2 * meanAnomaly);

  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;

  sunIjkModel[0] = cos(eclipticLongitude);
  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);

  uint64_t susBrightness[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
  if (sus0valid) {
    susBrightness[0] = susConverter.checkSunSensorData(sus0Value);
  }
  if (sus1valid) {
    susBrightness[1] = susConverter.checkSunSensorData(sus1Value);
  }
  if (sus2valid) {
    susBrightness[2] = susConverter.checkSunSensorData(sus2Value);
  }
  if (sus3valid) {
    susBrightness[3] = susConverter.checkSunSensorData(sus3Value);
  }
  if (sus4valid) {
    susBrightness[4] = susConverter.checkSunSensorData(sus4Value);
  }
  if (sus5valid) {
    susBrightness[5] = susConverter.checkSunSensorData(sus5Value);
  }
  if (sus6valid) {
    susBrightness[6] = susConverter.checkSunSensorData(sus6Value);
  }
  if (sus7valid) {
    susBrightness[7] = susConverter.checkSunSensorData(sus7Value);
  }
  if (sus8valid) {
    susBrightness[8] = susConverter.checkSunSensorData(sus8Value);
  }
  if (sus9valid) {
    susBrightness[9] = susConverter.checkSunSensorData(sus9Value);
  }
  if (sus10valid) {
    susBrightness[10] = susConverter.checkSunSensorData(sus10Value);
  }
  if (sus11valid) {
    susBrightness[11] = susConverter.checkSunSensorData(sus11Value);
  }

  bool susValid[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
  bool allInvalid =
      susConverter.checkValidity(susValid, susBrightness, susParameters->susBrightnessThreshold);

  if (allInvalid) {
    {
      PoolReadGuard pg(susDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {
        std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
        std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
        susDataProcessed->setValidity(false, true);
        std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
        susDataProcessed->sunIjkModel.setValid(true);
      }
    }
    return;
  }

  float susVecSensor[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
                               {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  float susVecBody[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
                             {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};

  if (susValid[0]) {
    susConverter.calculateSunVector(susVecSensor[0], sus0Value);
    MatrixOperations<float>::multiply(susParameters->sus0orientationMatrix[0], susVecSensor[0],
                                      susVecBody[0], 3, 3, 1);
  }
  if (susValid[1]) {
    susConverter.calculateSunVector(susVecSensor[1], sus1Value);
    MatrixOperations<float>::multiply(susParameters->sus1orientationMatrix[0], susVecSensor[1],
                                      susVecBody[1], 3, 3, 1);
  }
  if (susValid[2]) {
    susConverter.calculateSunVector(susVecSensor[2], sus2Value);
    MatrixOperations<float>::multiply(susParameters->sus2orientationMatrix[0], susVecSensor[2],
                                      susVecBody[2], 3, 3, 1);
  }
  if (susValid[3]) {
    susConverter.calculateSunVector(susVecSensor[3], sus3Value);
    MatrixOperations<float>::multiply(susParameters->sus3orientationMatrix[0], susVecSensor[3],
                                      susVecBody[3], 3, 3, 1);
  }
  if (susValid[4]) {
    susConverter.calculateSunVector(susVecSensor[4], sus4Value);
    MatrixOperations<float>::multiply(susParameters->sus4orientationMatrix[0], susVecSensor[4],
                                      susVecBody[4], 3, 3, 1);
  }
  if (susValid[5]) {
    susConverter.calculateSunVector(susVecSensor[5], sus5Value);
    MatrixOperations<float>::multiply(susParameters->sus5orientationMatrix[0], susVecSensor[5],
                                      susVecBody[5], 3, 3, 1);
  }
  if (susValid[6]) {
    susConverter.calculateSunVector(susVecSensor[6], sus6Value);
    MatrixOperations<float>::multiply(susParameters->sus6orientationMatrix[0], susVecSensor[6],
                                      susVecBody[6], 3, 3, 1);
  }
  if (susValid[7]) {
    susConverter.calculateSunVector(susVecSensor[7], sus7Value);
    MatrixOperations<float>::multiply(susParameters->sus7orientationMatrix[0], susVecSensor[7],
                                      susVecBody[7], 3, 3, 1);
  }
  if (susValid[8]) {
    susConverter.calculateSunVector(susVecSensor[8], sus8Value);
    MatrixOperations<float>::multiply(susParameters->sus8orientationMatrix[0], susVecSensor[8],
                                      susVecBody[8], 3, 3, 1);
  }
  if (susValid[9]) {
    susConverter.calculateSunVector(susVecSensor[9], sus9Value);
    MatrixOperations<float>::multiply(susParameters->sus9orientationMatrix[0], susVecSensor[9],
                                      susVecBody[9], 3, 3, 1);
  }
  if (susValid[10]) {
    susConverter.calculateSunVector(susVecSensor[10], sus10Value);
    MatrixOperations<float>::multiply(susParameters->sus10orientationMatrix[0], susVecSensor[10],
                                      susVecBody[10], 3, 3, 1);
  }
  if (susValid[11]) {
    susConverter.calculateSunVector(susVecSensor[11], sus11Value);
    MatrixOperations<float>::multiply(susParameters->sus11orientationMatrix[0], susVecSensor[11],
                                      susVecBody[11], 3, 3, 1);
  }

  double susMeanValue[3] = {0, 0, 0};
  for (uint8_t i = 0; i < 12; i++) {
    susMeanValue[0] += susVecBody[i][0];
    susMeanValue[1] += susVecBody[i][1];
    susMeanValue[2] += susVecBody[i][2];
  }
  double susVecTot[3] = {0.0, 0.0, 0.0};
  VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);

  if (VectorOperations<double>::norm(susVecTot, 3) != 0 and susDataProcessed->susVecTot.isValid()) {
    lowPassFilter(susVecTot, susDataProcessed->susVecTot.value,
                  susParameters->susVectorFilterWeight);
  }

  /* -------- Sun Derivatiative --------------------- */

  double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
  bool susVecTotDerivativeValid = false;
  double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0) {
    for (uint8_t i = 0; i < 3; i++) {
      susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
      savedSusVecTot[i] = susVecTot[i];
      susVecTotDerivativeValid = true;
    }
  }
  if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
      susDataProcessed->susVecTotDerivative.isValid()) {
    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
                  susParameters->susRateFilterWeight);
  }
  timeOfSavedSusDirEst = timeOfSusMeasurement;
  {
    PoolReadGuard pg(susDataProcessed);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susDataProcessed->sus0vec.value, susVecBody[0], 3 * sizeof(float));
      susDataProcessed->sus0vec.setValid(sus0valid);
      std::memcpy(susDataProcessed->sus1vec.value, susVecBody[1], 3 * sizeof(float));
      susDataProcessed->sus1vec.setValid(sus1valid);
      std::memcpy(susDataProcessed->sus2vec.value, susVecBody[2], 3 * sizeof(float));
      susDataProcessed->sus2vec.setValid(sus2valid);
      std::memcpy(susDataProcessed->sus3vec.value, susVecBody[3], 3 * sizeof(float));
      susDataProcessed->sus3vec.setValid(sus3valid);
      std::memcpy(susDataProcessed->sus4vec.value, susVecBody[4], 3 * sizeof(float));
      susDataProcessed->sus4vec.setValid(sus4valid);
      std::memcpy(susDataProcessed->sus5vec.value, susVecBody[5], 3 * sizeof(float));
      susDataProcessed->sus5vec.setValid(sus5valid);
      std::memcpy(susDataProcessed->sus6vec.value, susVecBody[6], 3 * sizeof(float));
      susDataProcessed->sus6vec.setValid(sus6valid);
      std::memcpy(susDataProcessed->sus7vec.value, susVecBody[7], 3 * sizeof(float));
      susDataProcessed->sus7vec.setValid(sus7valid);
      std::memcpy(susDataProcessed->sus8vec.value, susVecBody[8], 3 * sizeof(float));
      susDataProcessed->sus8vec.setValid(sus8valid);
      std::memcpy(susDataProcessed->sus9vec.value, susVecBody[9], 3 * sizeof(float));
      susDataProcessed->sus9vec.setValid(sus9valid);
      std::memcpy(susDataProcessed->sus10vec.value, susVecBody[10], 3 * sizeof(float));
      susDataProcessed->sus10vec.setValid(sus10valid);
      std::memcpy(susDataProcessed->sus11vec.value, susVecBody[11], 3 * sizeof(float));
      susDataProcessed->sus11vec.setValid(sus11valid);
      std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
      susDataProcessed->susVecTot.setValid(true);
      std::memcpy(susDataProcessed->susVecTotDerivative.value, susVecTotDerivative,
                  3 * sizeof(double));
      susDataProcessed->susVecTotDerivative.setValid(susVecTotDerivativeValid);
      std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
      susDataProcessed->sunIjkModel.setValid(true);
      susDataProcessed->setValidity(true, false);
    }
  }
}

void SensorProcessing::processGyr(
    const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue, bool gyr0axYvalid,
    const double gyr0axZvalue, bool gyr0axZvalid, const double gyr1axXvalue, bool gyr1axXvalid,
    const double gyr1axYvalue, bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
    const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid,
    const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid,
    const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
    timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters,
    acsctrl::GyrDataProcessed *gyrDataProcessed) {
  bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid);
  bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid);
  bool gyr2valid = (gyr2axXvalid && gyr2axYvalid && gyr2axZvalid);
  bool gyr3valid = (gyr3axXvalid && gyr3axYvalid && gyr3axZvalid);
  if (!gyr0valid && !gyr1valid && !gyr2valid && !gyr3valid) {
    {
      PoolReadGuard pg(gyrDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {
        std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
        std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
        gyrDataProcessed->setValidity(false, true);
      }
    }
    return;
  }
  // Transforming Values to the Body Frame (actually it is the geometry frame atm)
  double gyr0ValueBody[3] = {0, 0, 0}, gyr1ValueBody[3] = {0, 0, 0}, gyr2ValueBody[3] = {0, 0, 0},
         gyr3ValueBody[3] = {0, 0, 0};
  float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};

  if (gyr0valid) {
    double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
    VectorOperations<double>::subtract(gyr0Value, gyrParameters->gyr0bias, gyr0Value, 3);
    MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
                                       gyr0ValueBody, 3, 3, 1);
    VectorOperations<double>::mulScalar(gyr0ValueBody, M_PI / 180, gyr0ValueBody, 3);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
      sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
    }
  }
  if (gyr1valid) {
    double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
    VectorOperations<double>::subtract(gyr1Value, gyrParameters->gyr1bias, gyr1Value, 3);
    MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
                                       gyr1ValueBody, 3, 3, 1);
    VectorOperations<double>::mulScalar(gyr1ValueBody, M_PI / 180, gyr1ValueBody, 3);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
      sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
    }
  }
  if (gyr2valid) {
    double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
    VectorOperations<double>::subtract(gyr2Value, gyrParameters->gyr2bias, gyr2Value, 3);
    MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
                                       gyr2ValueBody, 3, 3, 1);
    VectorOperations<double>::mulScalar(gyr2ValueBody, M_PI / 180, gyr2ValueBody, 3);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
      sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
    }
  }
  if (gyr3valid) {
    double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
    VectorOperations<double>::subtract(gyr3Value, gyrParameters->gyr3bias, gyr3Value, 3);
    MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
                                       gyr3ValueBody, 3, 3, 1);
    VectorOperations<double>::mulScalar(gyr3ValueBody, M_PI / 180, gyr3ValueBody, 3);
    for (uint8_t i = 0; i < 3; i++) {
      sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
      sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
    }
  }

  /* -------- SatRateEst: Middle Value ------- */
  // take ADIS measurements, if both avail
  // if just one ADIS measurement avail, perform sensor fusion
  double gyrVecTot[3] = {0.0, 0.0, 0.0};
  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == true) {
    double gyr02ValuesSum[3];
    VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
    VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
  } else {
    for (uint8_t i = 0; i < 3; i++) {
      gyrVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
    }
  }

  if (VectorOperations<double>::norm(gyrVecTot, 3) != 0 and gyrDataProcessed->gyrVecTot.isValid()) {
    lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
  }

  {
    PoolReadGuard pg(gyrDataProcessed);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(gyrDataProcessed->gyr0vec.value, gyr0ValueBody, 3 * sizeof(double));
      gyrDataProcessed->gyr0vec.setValid(gyr0valid);
      std::memcpy(gyrDataProcessed->gyr1vec.value, gyr1ValueBody, 3 * sizeof(double));
      gyrDataProcessed->gyr1vec.setValid(gyr1valid);
      std::memcpy(gyrDataProcessed->gyr2vec.value, gyr2ValueBody, 3 * sizeof(double));
      gyrDataProcessed->gyr2vec.setValid(gyr2valid);
      std::memcpy(gyrDataProcessed->gyr3vec.value, gyr3ValueBody, 3 * sizeof(double));
      gyrDataProcessed->gyr3vec.setValid(gyr3valid);
      std::memcpy(gyrDataProcessed->gyrVecTot.value, gyrVecTot, 3 * sizeof(double));
      gyrDataProcessed->gyrVecTot.setValid(true);
      gyrDataProcessed->setValidity(true, false);
    }
  }
}

void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
                                  const double gpsAltitude, const double gpsUnixSeconds,
                                  const bool validGps,
                                  const AcsParameters::GpsParameters *gpsParameters,
                                  acsctrl::GpsDataProcessed *gpsDataProcessed) {
  double gdLongitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
         gpsVelocityE[3] = {0, 0, 0};
  if (validGps) {
    // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
    gdLongitude = gpsLongitude * PI / 180.;
    double latitudeRad = gpsLatitude * PI / 180.;
    double eccentricityWgs84 = 0.0818195;
    double factor = 1 - pow(eccentricityWgs84, 2);
    gcLatitude = atan(factor * tan(latitudeRad));

    // Altitude FDIR
    if (gpsAltitude > gpsParameters->maximumFdirAltitude ||
        gpsAltitude < gpsParameters->minimumFdirAltitude) {
      altitude = gpsParameters->fdirAltitude;
    } else {
      altitude = gpsAltitude;
    }

    // Calculation of the satellite velocity in earth fixed frame
    double deltaDistance[3] = {0, 0, 0};
    MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE);
    if (validSavedPosSatE and
        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and
        (gpsUnixSeconds - timeOfSavedPosSatE) > 0) {
      VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
      double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
    }
    savedPosSatE[0] = posSatE[0];
    savedPosSatE[1] = posSatE[1];
    savedPosSatE[2] = posSatE[2];

    timeOfSavedPosSatE = gpsUnixSeconds;
    validSavedPosSatE = true;
  }
  {
    PoolReadGuard pg(gpsDataProcessed);
    if (pg.getReadResult() == returnvalue::OK) {
      gpsDataProcessed->gdLongitude.value = gdLongitude;
      gpsDataProcessed->gcLatitude.value = gcLatitude;
      gpsDataProcessed->altitude.value = altitude;
      std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
      std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
      gpsDataProcessed->setValidity(validGps, true);
    }
  }
}

void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
                               acsctrl::MgmDataProcessed *mgmDataProcessed,
                               acsctrl::SusDataProcessed *susDataProcessed,
                               acsctrl::GyrDataProcessed *gyrDataProcessed,
                               acsctrl::GpsDataProcessed *gpsDataProcessed,
                               const AcsParameters *acsParameters) {
  sensorValues->update();
  processGps(
      sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
      sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
      (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
       sensorValues->gpsSet.altitude.isValid() && sensorValues->gpsSet.unixSeconds.isValid()),
      &acsParameters->gpsParameters, gpsDataProcessed);

  processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
             sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),
             sensorValues->mgm1Rm3100Set.fieldStrengths.value,
             sensorValues->mgm1Rm3100Set.fieldStrengths.isValid(),
             sensorValues->mgm2Lis3Set.fieldStrengths.value,
             sensorValues->mgm2Lis3Set.fieldStrengths.isValid(),
             sensorValues->mgm3Rm3100Set.fieldStrengths.value,
             sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
             sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
             sensorValues->gpsSet.altitude.value,
             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
              sensorValues->gpsSet.altitude.isValid()),
             mgmDataProcessed);

  processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
             sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
             sensorValues->susSets[2].channels.value, sensorValues->susSets[2].channels.isValid(),
             sensorValues->susSets[3].channels.value, sensorValues->susSets[3].channels.isValid(),
             sensorValues->susSets[4].channels.value, sensorValues->susSets[4].channels.isValid(),
             sensorValues->susSets[5].channels.value, sensorValues->susSets[5].channels.isValid(),
             sensorValues->susSets[6].channels.value, sensorValues->susSets[6].channels.isValid(),
             sensorValues->susSets[7].channels.value, sensorValues->susSets[7].channels.isValid(),
             sensorValues->susSets[8].channels.value, sensorValues->susSets[8].channels.isValid(),
             sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
             sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
             sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
             now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
             susDataProcessed);

  processGyr(
      sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(),
      sensorValues->gyr0AdisSet.angVelocY.value, sensorValues->gyr0AdisSet.angVelocY.isValid(),
      sensorValues->gyr0AdisSet.angVelocZ.value, sensorValues->gyr0AdisSet.angVelocZ.isValid(),
      sensorValues->gyr1L3gSet.angVelocX.value, sensorValues->gyr1L3gSet.angVelocX.isValid(),
      sensorValues->gyr1L3gSet.angVelocY.value, sensorValues->gyr1L3gSet.angVelocY.isValid(),
      sensorValues->gyr1L3gSet.angVelocZ.value, sensorValues->gyr1L3gSet.angVelocZ.isValid(),
      sensorValues->gyr2AdisSet.angVelocX.value, sensorValues->gyr2AdisSet.angVelocX.isValid(),
      sensorValues->gyr2AdisSet.angVelocY.value, sensorValues->gyr2AdisSet.angVelocY.isValid(),
      sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(),
      sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(),
      sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(),
      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
      &acsParameters->gyrHandlingParameters, gyrDataProcessed);
}

void SensorProcessing::lowPassFilter(double *newValue, double *oldValue, const double weight) {
  double leftSide[3] = {0, 0, 0}, rightSide[3] = {0, 0, 0};
  VectorOperations<double>::mulScalar(newValue, (1 - weight), leftSide, 3);
  VectorOperations<double>::mulScalar(oldValue, weight, rightSide, 3);
  VectorOperations<double>::add(leftSide, rightSide, newValue, 3);
}