Merge branch 'develop' into stop-the-spam

mission/controller/AcsController.cpp

@@ -55,6 +55,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       navigation.resetMekf(&mekfData);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case RESTORE_MEKF_NONFINITE_RECOVERY: {
+      mekfLost = false;
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -149,6 +153,10 @@ void AcsController::performSafe() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+      mekfLost = true;
+    }
   } else {
     mekfInvalidFlag = false;
   }
@@ -231,6 +239,9 @@ void AcsController::performDetumble() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+    }
   } else {
     mekfInvalidFlag = false;
   }
@@ -282,6 +293,9 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
+      navigation.resetMekf(&mekfData);
+    }
     if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
       // Trigger this so STR FDIR can set the device faulty.
       EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);

mission/controller/AcsController.h

@@ -64,6 +64,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint16_t mekfInvalidCounter = 0;
   bool safeCtrlFailureFlag = false;
   uint8_t safeCtrlFailureCounter = 0;
+  uint8_t resetMekfCount = 0;
+  bool mekfLost = false;
 
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
@@ -78,6 +80,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   /** Device command IDs */
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   static const DeviceCommandId_t RESET_MEKF = 0x1;
+  static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
   static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -1080,6 +1080,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
 
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
 
+  if (not(MathOperations<double>::checkVectorIsFinite(propagatedQuaternion, 4)) ||
+      not(MathOperations<double>::checkMatrixIsFinite(initialQuaternion, 6, 6))) {
+    updateDataSetWithoutData(mekfData, MekfStatus::NOT_FINITE);
+    return MEKF_NOT_FINITE;
+  }
+
   updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
   return MEKF_RUNNING;
 }

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -62,6 +62,7 @@ class MultiplicativeKalmanFilter {
     NO_MODEL_VECTORS = 2,
     NO_SUS_MGM_STR_DATA = 3,
     COVARIANCE_INVERSION_FAILED = 4,
+    NOT_FINITE = 5,
     INITIALIZED = 10,
     RUNNING = 11,
   };
@@ -74,8 +75,9 @@ class MultiplicativeKalmanFilter {
   static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
   static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
       returnvalue::makeCode(IF_MEKF_ID, 6);
-  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
-  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
+  static constexpr ReturnValue_t MEKF_NOT_FINITE = returnvalue::makeCode(IF_MEKF_ID, 7);
+  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 8);
+  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9);
 
  private:
   /*Parameters*/

mission/controller/acs/util/MathOperations.h

@@ -404,6 +404,26 @@ class MathOperations {
     std::memcpy(inverse, identity, sizeof(identity));
     return 0;  // successful inversion
   }
+
+  static bool checkVectorIsFinite(const T1 *inputVector, uint8_t size) {
+    for (uint8_t i = 0; i < size; i++) {
+      if (not isfinite(inputVector[i])) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  static bool checkMatrixIsFinite(const T1 *inputMatrix, uint8_t rows, uint8_t cols) {
+    for (uint8_t col = 0; col < cols; col++) {
+      for (uint8_t row = 0; row < rows; row++) {
+        if (not isfinite(inputMatrix[row * cols + cols])) {
+          return false;
+        }
+      }
+    }
+    return true;
+  }
 };
 
 #endif /* ACS_MATH_MATHOPERATIONS_H_ */