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this is better
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This commit is contained in:
Marius Eggert
2023-11-22 13:56:33 +01:00
parent a45e96b772
commit 0aa09bd516
3 changed files with 20 additions and 17 deletions
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8
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -96,6 +96,7 @@ enum PoolIds : lp_id_t {
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
MEKF_STATUS,
QUAT_QUEST,
// Ctrl Values
SAFE_STRAT,
TGT_QUAT,
@ -122,7 +123,7 @@ static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
static constexpr uint8_t MEKF_SET_ENTRIES = 3;
static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
@ -250,13 +251,14 @@ class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
private:
};
class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
class AttitudeEstimationData : public StaticLocalDataSet<ATTITUDE_ESTIMATION_SET_ENTRIES> {
public:
MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
AttitudeEstimationData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
lp_var_t<uint8_t> mekfStatus = lp_var_t<uint8_t>(sid.objectId, MEKF_STATUS, this);
lp_vec_t<double, 4> quatQuest = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
private:
};