Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage
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Robin Müller 2023-02-24 17:01:31 +01:00
commit 1744f1aff0
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41 changed files with 294 additions and 188 deletions

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@ -29,6 +29,30 @@ will consitute of a breaking change warranting a new major release:
## Fixed
- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
- Bumped FSFW for bugfix in health service: No execution complete for targeted health announce
command.
- Removed matrix determinant calculation as part of the `MEKF`, which would take about
300ms of runtime
- Resetting the `MEKF` now also actually resets its stored state
- Bumped FSFW for bugfix in destination handler: Better error handling and able to process
destination folder path.
## Changed
- Commented out commanding of actuators as part of the `AcsController`
- Collection sets of the `AcsController` now get updated before running the actual ACS
algorithm
- `GpsController` now always gets scheduled
## Added
- `ExecutableComIfDummy` class to have a dummy for classes like the RTD polling class.
- Added `AcsController` action command to confirm solar array deployment, which then deletes
two files
- Added `AcsController` action command to reset `MEKF`
- `GpsCtrlDummy` now initializes the `gpsSet`
- `RwDummy` now initializes with a non faulty state
# [v1.31.1]

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 261 translations.
* @brief Auto-generated event translation file. Contains 263 translations.
* @details
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateEvents.h"
@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
return MSG_QUEUE_ERROR_STRING;
case (10802):
return SERIALIZATION_ERROR_STRING;
case (10803):
return FILESTORE_ERROR_STRING;
case (10804):
return FILENAME_TOO_LARGE_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 154 translations.
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateObjects.h"

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@ -187,14 +187,12 @@ void scheduling::initTasks() {
}
#endif
#if OBSW_ADD_GPS_CTRL == 1
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
@ -378,9 +376,7 @@ void scheduling::initTasks() {
#if OBSW_ADD_RW == 1
rwPolling->startTask();
#endif
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif
acsSysTask->startTask();
if (not tcsSystemTask->isEmpty()) {
tcsSystemTask->startTask();

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@ -61,8 +61,8 @@ static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 90;
static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 95;
static constexpr uint32_t SCHED_BLOCK_RTD = 150;
static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;

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@ -35,14 +35,13 @@ enum commonClassIds : uint8_t {
SA_DEPL_HANDLER, // SADPL
MPSOC_RETURN_VALUES_IF, // MPSOCRTVIF
SUPV_RETURN_VALUES_IF, // SPVRTVIF
ACS_KALMAN, // ACSKAL
ACS_CTRL, // ACSCTRL
ACS_MEKF, // ACSMEKF
ACS_SAFE, // ACSSAF
ACS_PTG, // ACSPTG
ACS_DETUMBLE, // ACSDTB
ACS_MEKF, // ACSMEK
COMMON_CLASS_ID_END // [EXPORT] : [END]
};
}
#endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

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@ -20,11 +20,11 @@ target_sources(
GyroL3GD20Dummy.cpp
MgmLIS3MDLDummy.cpp
PlPcduDummy.cpp
ExecutableComIfDummy.cpp
ScexDummy.cpp
CoreControllerDummy.cpp
PlocMpsocDummy.cpp
PlocSupervisorDummy.cpp
helpers.cpp
RtdPollingDummy.cpp
MgmRm3100Dummy.cpp
Tmp1075Dummy.cpp)

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@ -0,0 +1,27 @@
#include <dummies/ExecutableComIfDummy.h>
ExecutableComIfDummy::ExecutableComIfDummy(object_id_t objectId) : SystemObject(objectId) {}
ReturnValue_t ExecutableComIfDummy::initializeInterface(CookieIF *cookie) {
return returnvalue::OK;
}
ReturnValue_t ExecutableComIfDummy::sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) {
return returnvalue::OK;
}
ReturnValue_t ExecutableComIfDummy::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
ReturnValue_t ExecutableComIfDummy::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t ExecutableComIfDummy::performOperation(uint8_t operationCode) {
return returnvalue::OK;
}
ReturnValue_t ExecutableComIfDummy::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) {
return returnvalue::OK;
}

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@ -0,0 +1,21 @@
#ifndef DUMMIES_EXECUTABLECOMIFDUMMY_H_
#define DUMMIES_EXECUTABLECOMIFDUMMY_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class ExecutableComIfDummy : public ExecutableObjectIF,
public DeviceCommunicationIF,
public SystemObject {
public:
ExecutableComIfDummy(object_id_t objectId);
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
};
#endif /* DUMMIES_EXECUTABLECOMIFDUMMY_H_ */

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@ -1,6 +1,7 @@
#include "GpsCtrlDummy.h"
GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId) : ExtendedControllerBase(objectId, 20) {}
GpsCtrlDummy::GpsCtrlDummy(object_id_t objectId)
: ExtendedControllerBase(objectId, 20), gpsSet(this) {}
ReturnValue_t GpsCtrlDummy::handleCommandMessage(CommandMessage* message) {
return returnvalue::OK;
@ -13,9 +14,23 @@ ReturnValue_t GpsCtrlDummy::checkModeCommand(Mode_t mode, Submode_t submode,
return returnvalue::OK;
}
LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GpsCtrlDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({537222.3469}, true));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({-8.8579}, true));
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({49.5952}, true));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({2023}, true));
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({5}, true));
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({16}, true));
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({1}, true));
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}, true));
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}, true));
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({1684191600}, true));
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
return returnvalue::OK;
}
LocalPoolDataSetBase* GpsCtrlDummy::getDataSetHandle(sid_t sid) { return nullptr; }

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@ -2,12 +2,15 @@
#define DUMMIES_GPSCTRLDUMMY_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/devices/devicedefinitions/GPSDefinitions.h>
class GpsCtrlDummy : public ExtendedControllerBase {
public:
GpsCtrlDummy(object_id_t objectId);
private:
GpsPrimaryDataset gpsSet;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,

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@ -1,5 +0,0 @@
#include "RtdPollingDummy.h"
RtdPollingDummy::RtdPollingDummy(object_id_t objectId) : SystemObject(objectId) {}
ReturnValue_t RtdPollingDummy::performOperation(uint8_t operationCode) { return returnvalue::OK; }

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@ -1,13 +0,0 @@
#ifndef DUMMIES_RTDPOLLINGDUMMY_H_
#define DUMMIES_RTDPOLLINGDUMMY_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
class RtdPollingDummy : public ExecutableObjectIF, public SystemObject {
public:
RtdPollingDummy(object_id_t objectId);
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
};
#endif /* DUMMIES_RTDPOLLINGDUMMY_H_ */

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@ -41,7 +41,7 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({1}, true));
localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));

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@ -37,7 +37,7 @@ ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPo
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
new PoolEntry<uint16_t>({2603, 781, 2760, 2048, 4056, 0}, true));
return returnvalue::OK;
}

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@ -5,6 +5,7 @@
#include <dummies/ComCookieDummy.h>
#include <dummies/ComIFDummy.h>
#include <dummies/CoreControllerDummy.h>
#include <dummies/ExecutableComIfDummy.h>
#include <dummies/GpsCtrlDummy.h>
#include <dummies/GpsDhbDummy.h>
#include <dummies/GyroAdisDummy.h>
@ -46,7 +47,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
new CoreControllerDummy(objects::CORE_CONTROLLER);
}
if (cfg.addRtdComIFDummy) {
new RtdPollingDummy(objects::SPI_RTD_COM_IF);
new ExecutableComIfDummy(objects::SPI_RTD_COM_IF);
}
std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
std::array<DeviceHandlerBase*, 4> rws;

2
fsfw

@ -1 +1 @@
Subproject commit d373c45d36ef1c817e1a849afd91dbd81bdb5e32
Subproject commit 216f603d62892356cb16e4ee4a35a59399c92ceb

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@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
84 10800 0x2a30 STORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
85 10801 0x2a31 MSG_QUEUE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
86 10802 0x2a32 SERIALIZATION_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
87 10803 0x2a33 FILESTORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM No description mission/acsDefs.h
90 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM No description mission/acsDefs.h
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description mission/acsDefs.h

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@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
49 0x4fa4 HEATER_MainSwitchSetTimeout No description 164 HEATER_HANDLER mission/devices/HeaterHandler.h
50 0x4fa5 HEATER_CommandAlreadyWaiting No description 165 HEATER_HANDLER mission/devices/HeaterHandler.h
51 0x60a0 CCSDS_CommandNotImplemented Received action message with unknown action id 160 CCSDS_HANDLER mission/tmtc/CcsdsIpCoreHandler.h
52 0x6a01 0x6b01 ACSSAF_SafectrlMekfInputInvalid No description 1 ACS_SAFE mission/controller/acs/control/SafeCtrl.h
53 0x6b01 0x6c01 ACSPTG_PtgctrlMekfInputInvalid No description 1 ACS_PTG mission/controller/acs/control/PtgCtrl.h
54 0x6c01 0x6d01 ACSDTB_DetumbleNoSensordata No description 1 ACS_DETUMBLE mission/controller/acs/control/Detumble.h
55 0x6902 0x6a02 ACSKAL_KalmanUninitialized ACSMEKF_MekfUninitialized No description 2 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
56 0x6903 0x6a03 ACSKAL_KalmanNoGyrData ACSMEKF_MekfNoGyrData No description 3 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
57 0x6904 0x6a04 ACSKAL_KalmanNoModelVectors ACSMEKF_MekfNoModelVectors No description 4 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
58 0x6905 0x6a05 ACSKAL_KalmanNoSusMgmStrData ACSMEKF_MekfNoSusMgmStrData No description 5 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
59 0x6906 0x6a06 ACSKAL_KalmanCovarianceInversionFailed ACSMEKF_MekfCovarianceInversionFailed No description 6 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
60 0x6907 0x6a07 ACSKAL_KalmanInitialized ACSMEKF_MekfInitialized No description 7 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
61 0x6908 0x6a08 ACSKAL_KalmanRunning ACSMEKF_MekfRunning No description 8 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
62 0x6900 ACSCTRL_FileDeletionFailed No description 0 ACS_CTRL mission/controller/AcsController.h
63 0x4500 HSPI_OpeningFileFailed No description 0 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
64 0x4501 HSPI_FullDuplexTransferFailed No description 1 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
65 0x4502 HSPI_HalfDuplexTransferFailed No description 2 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

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@ -84,6 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10800;0x2a30;STORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10801;0x2a31;MSG_QUEUE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acsDefs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acsDefs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acsDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
84 10800 0x2a30 STORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
85 10801 0x2a31 MSG_QUEUE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
86 10802 0x2a32 SERIALIZATION_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
87 10803 0x2a33 FILESTORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM No description mission/acsDefs.h
90 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM No description mission/acsDefs.h
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description mission/acsDefs.h

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@ -49,16 +49,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x4fa4;HEATER_MainSwitchSetTimeout;No description;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa5;HEATER_CommandAlreadyWaiting;No description;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
0x6a01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6b01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6c01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
0x6902;ACSKAL_KalmanUninitialized;No description;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6903;ACSKAL_KalmanNoGyrData;No description;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6904;ACSKAL_KalmanNoModelVectors;No description;4;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6905;ACSKAL_KalmanNoSusMgmStrData;No description;5;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6906;ACSKAL_KalmanCovarianceInversionFailed;No description;6;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6907;ACSKAL_KalmanInitialized;No description;7;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6908;ACSKAL_KalmanRunning;No description;8;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h
0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
49 0x4fa4 HEATER_MainSwitchSetTimeout No description 164 HEATER_HANDLER mission/devices/HeaterHandler.h
50 0x4fa5 HEATER_CommandAlreadyWaiting No description 165 HEATER_HANDLER mission/devices/HeaterHandler.h
51 0x60a0 CCSDS_CommandNotImplemented Received action message with unknown action id 160 CCSDS_HANDLER mission/tmtc/CcsdsIpCoreHandler.h
52 0x6a01 0x6b01 ACSSAF_SafectrlMekfInputInvalid No description 1 ACS_SAFE mission/controller/acs/control/SafeCtrl.h
53 0x6b01 0x6c01 ACSPTG_PtgctrlMekfInputInvalid No description 1 ACS_PTG mission/controller/acs/control/PtgCtrl.h
54 0x6c01 0x6d01 ACSDTB_DetumbleNoSensordata No description 1 ACS_DETUMBLE mission/controller/acs/control/Detumble.h
55 0x6902 0x6a02 ACSKAL_KalmanUninitialized ACSMEKF_MekfUninitialized No description 2 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
56 0x6903 0x6a03 ACSKAL_KalmanNoGyrData ACSMEKF_MekfNoGyrData No description 3 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
57 0x6904 0x6a04 ACSKAL_KalmanNoModelVectors ACSMEKF_MekfNoModelVectors No description 4 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
58 0x6905 0x6a05 ACSKAL_KalmanNoSusMgmStrData ACSMEKF_MekfNoSusMgmStrData No description 5 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
59 0x6906 0x6a06 ACSKAL_KalmanCovarianceInversionFailed ACSMEKF_MekfCovarianceInversionFailed No description 6 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
60 0x6907 0x6a07 ACSKAL_KalmanInitialized ACSMEKF_MekfInitialized No description 7 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
61 0x6908 0x6a08 ACSKAL_KalmanRunning ACSMEKF_MekfRunning No description 8 ACS_KALMAN ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
62 0x6900 ACSCTRL_FileDeletionFailed No description 0 ACS_CTRL mission/controller/AcsController.h
63 0x4500 HSPI_OpeningFileFailed No description 0 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
64 0x4501 HSPI_FullDuplexTransferFailed No description 1 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
65 0x4502 HSPI_HalfDuplexTransferFailed No description 2 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h

View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 261 translations.
* @brief Auto-generated event translation file. Contains 263 translations.
* @details
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateEvents.h"
@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
return MSG_QUEUE_ERROR_STRING;
case (10802):
return SERIALIZATION_ERROR_STRING;
case (10803):
return FILESTORE_ERROR_STRING;
case (10804):
return FILENAME_TOO_LARGE_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):

View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 159 translations.
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateObjects.h"

View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 261 translations.
* @brief Auto-generated event translation file. Contains 263 translations.
* @details
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateEvents.h"
@ -90,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
const char *STORE_ERROR_STRING = "STORE_ERROR";
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
const char *FILESTORE_ERROR_STRING = "FILESTORE_ERROR";
const char *FILENAME_TOO_LARGE_ERROR_STRING = "FILENAME_TOO_LARGE_ERROR";
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
@ -434,6 +436,10 @@ const char *translateEvents(Event event) {
return MSG_QUEUE_ERROR_STRING;
case (10802):
return SERIALIZATION_ERROR_STRING;
case (10803):
return FILESTORE_ERROR_STRING;
case (10804):
return FILENAME_TOO_LARGE_ERROR_STRING;
case (11200):
return SAFE_RATE_VIOLATION_STRING;
case (11201):

View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 159 translations.
* Generated on: 2023-02-23 15:59:16
* Generated on: 2023-02-24 16:57:00
*/
#include "translateObjects.h"

View File

@ -1,9 +1,8 @@
#include "AcsController.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "mission/acsDefs.h"
#include "mission/config/torquer.h"
#include <mission/acsDefs.h>
#include <mission/config/torquer.h>
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId),
@ -46,6 +45,26 @@ ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return result;
}
ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
ReturnValue_t result = guidance.solarArrayDeploymentComplete();
if (result == returnvalue::FAILED) {
return FILE_DELETION_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
case RESET_MEKF: {
navigation.resetMekf(&mekfData);
return HasActionsIF::EXECUTION_FINISHED;
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
}
}
MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
@ -60,6 +79,25 @@ void AcsController::performControlOperation() {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "ACS & TCS PST");
#endif
{
PoolReadGuard pg(&mgmDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyMgmData();
}
}
{
PoolReadGuard pg(&susDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copySusData();
}
}
{
PoolReadGuard pg(&gyrDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyGyrData();
}
}
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();
@ -95,25 +133,6 @@ void AcsController::performControlOperation() {
default:
break;
}
{
PoolReadGuard pg(&mgmDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyMgmData();
}
}
{
PoolReadGuard pg(&susDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copySusData();
}
}
{
PoolReadGuard pg(&gyrDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyGyrData();
}
}
}
void AcsController::performSafe() {
@ -124,8 +143,8 @@ void AcsController::performSafe() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -139,7 +158,7 @@ void AcsController::performSafe() {
// if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@ -189,8 +208,8 @@ void AcsController::performDetumble() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -236,8 +255,8 @@ void AcsController::performPointingCtrl() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -246,9 +265,10 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
}
mekfInvalidCounter++;
commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
// cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime);
return;
} else {
mekfInvalidFlag = false;
@ -395,7 +415,7 @@ void AcsController::performPointingCtrl() {
sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, cmdSpeedRws);
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
updateCtrlValData(targetQuat, errorQuat, errorAngle);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
@ -457,16 +477,20 @@ void AcsController::updateCtrlValData(double errAng) {
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
ctrlValData.tgtRotRate.setValid(false);
ctrlValData.setValidity(true, false);
}
}
void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
const double *tgtRotRate) {
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng;
std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
ctrlValData.setValidity(true, true);
}
}
@ -477,6 +501,7 @@ void AcsController::disableCtrlValData() {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.errAng.value = 0;
std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double));
ctrlValData.setValidity(false, true);
}
}

View File

@ -1,12 +1,17 @@
#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/devices/devicedefinitions/SusDefinitions.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/trace.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
@ -17,11 +22,6 @@
#include "acs/control/PtgCtrl.h"
#include "acs/control/SafeCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/trace.h"
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
@ -41,6 +41,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
private:
static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
static constexpr double ZERO_VEC[3] = {0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
@ -58,7 +59,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = true;
bool mekfInvalidFlag = false;
uint8_t mekfInvalidCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};
@ -68,13 +69,23 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
#endif
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
/** Device command IDs */
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
/* HasActionsIF overrides */
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
@ -92,7 +103,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
const int16_t* mtqTargetDipole);
void updateCtrlValData(double errAng);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
const double* tgtRotRate);
void disableCtrlValData();
/* ACS Sensor Values */

View File

@ -1,8 +1,3 @@
/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef ACSPARAMETERS_H_
#define ACSPARAMETERS_H_

View File

@ -551,3 +551,19 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
3 * sizeof(double));
}
ReturnValue_t Guidance::solarArrayDeploymentComplete() {
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
std::remove(SD_0_SKEWED_PTG_FILE);
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
return returnvalue::FAILED;
}
}
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
std::remove(SD_1_SKEWED_PTG_FILE);
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
return returnvalue::FAILED;
}
}
return returnvalue::OK;
}

View File

@ -13,6 +13,7 @@ class Guidance {
virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
ReturnValue_t solarArrayDeploymentComplete();
// Function to get the target quaternion and refence rotation rate from gps position and
// position of the ground station

View File

@ -189,12 +189,12 @@ ReturnValue_t MultiplicativeKalmanFilter::init(
initialCovarianceMatrix[5][4] = initGyroCov[2][1];
initialCovarianceMatrix[5][5] = initGyroCov[2][2];
updateDataSetWithoutData(mekfData, MekfStatus::INITIALIZED);
return KALMAN_INITIALIZED;
return MEKF_INITIALIZED;
} else {
// no initialisation possible, no valid measurements
validInit = false;
updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
return KALMAN_UNINITIALIZED;
return MEKF_UNINITIALIZED;
}
}
@ -211,12 +211,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
int MDF = 0; // Matrix Dimension Factor
if (!validGYRs_) {
updateDataSetWithoutData(mekfData, MekfStatus::NO_GYR_DATA);
return KALMAN_NO_GYR_DATA;
return MEKF_NO_GYR_DATA;
}
// Check for Model Calculations
else if (!validSSModel || !validMagModel) {
updateDataSetWithoutData(mekfData, MekfStatus::NO_MODEL_VECTORS);
return KALMAN_NO_MODEL_VECTORS;
return MEKF_NO_MODEL_VECTORS;
}
// Check Measurements available from SS, MAG, STR
if (validSS && validMagField_ && validSTR_) {
@ -854,7 +854,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
int inversionFailed = MathOperations<double>::inverseMatrix(*residualCov, *invResidualCov, MDF);
if (inversionFailed) {
updateDataSetWithoutData(mekfData, MekfStatus::COVARIANCE_INVERSION_FAILED);
return KALMAN_COVARIANCE_INVERSION_FAILED; // RETURN VALUE ? -- Like: Kalman Inversion Failed
return MEKF_COVARIANCE_INVERSION_FAILED; // RETURN VALUE ? -- Like: Kalman Inversion Failed
}
// [K = P * H' / (H * P * H' + R)]
@ -1085,16 +1085,17 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
return KALMAN_RUNNING;
return MEKF_RUNNING;
}
void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
double resetQuaternion[4] = {0, 0, 0, 1};
double resetCovarianceMatrix[6][6] = {{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}};
std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
return MEKF_UNINITIALIZED;
}
void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,

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@ -1,17 +1,3 @@
/*
* MultiplicativeKalmanFilter.h
*
* Created on: 4 Feb 2022
* Author: Robin Marquardt
*
* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
* means of the spacecraft attitude sensors
*
* @note: A description of the used algorithms can be found in the bachelor thesis of Robin
* Marquardt
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
*/
#ifndef MULTIPLICATIVEKALMANFILTER_H_
#define MULTIPLICATIVEKALMANFILTER_H_
@ -22,6 +8,13 @@
#include "eive/resultClassIds.h"
class MultiplicativeKalmanFilter {
/* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
* means of the spacecraft attitude sensors
*
* @note: A description of the used algorithms can be found in the bachelor thesis of Robin
* Marquardt
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
*/
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
@ -29,7 +22,7 @@ class MultiplicativeKalmanFilter {
MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
virtual ~MultiplicativeKalmanFilter();
void reset(acsctrl::MekfData *mekfData);
ReturnValue_t reset(acsctrl::MekfData *mekfData);
/* @brief: init() - This function initializes the Kalman Filter and will provide the first
* quaternion through the QUEST algorithm
@ -74,15 +67,15 @@ class MultiplicativeKalmanFilter {
};
// resetting Mekf
static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
returnvalue::makeCode(IF_KAL_ID, 6);
static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
static constexpr ReturnValue_t MEKF_NO_GYR_DATA = returnvalue::makeCode(IF_MEKF_ID, 3);
static constexpr ReturnValue_t MEKF_NO_MODEL_VECTORS = returnvalue::makeCode(IF_MEKF_ID, 4);
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);
private:
/*Parameters*/

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@ -25,26 +25,25 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
if (kalmanInit) {
return multiplicativeKalmanFilter.mekfEst(
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(
mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
return mekfStatus;
} else {
mekfStatus = multiplicativeKalmanFilter.mekfEst(
quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
} else {
ReturnValue_t result;
result = multiplicativeKalmanFilter.init(
mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
kalmanInit = true;
return result;
return mekfStatus;
}
}
void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
multiplicativeKalmanFilter.reset(mekfData);
mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
}

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@ -22,7 +22,7 @@ class Navigation {
private:
MultiplicativeKalmanFilter multiplicativeKalmanFilter;
AcsParameters acsParameters;
bool kalmanInit = false;
ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
};
#endif /* ACS_NAVIGATION_H_ */

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@ -1,7 +1,3 @@
/*******************************
* EIVE Flight Software
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef SENSORPROCESSING_H_
#define SENSORPROCESSING_H_

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@ -1,9 +1,3 @@
/*
* SensorValues.cpp
*
* Created on: 30 Mar 2022
* Author: rooob
*/
#include "SensorValues.h"
#include <fsfw/datapool/PoolReadGuard.h>

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@ -1,17 +1,9 @@
/*
* SusConverter.cpp
*
* Created on: 17.01.2022
* Author: Timon Schwarz
*/
#include "SusConverter.h"
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h> //for atan2
#include <math.h>
#include <iostream>
bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {

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@ -1,10 +1,3 @@
/*
* SusConverter.h
*
* Created on: Sep 22, 2022
* Author: marius
*/
#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
@ -28,8 +21,6 @@ class SusConverter {
private:
float alphaBetaRaw[2]; //[°]
// float coeffAlpha[9][10];
// float coeffBeta[9][10];
float alphaBetaCalibrated[2]; //[°]
float sunVectorSensorFrame[3]; //[-]

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@ -300,6 +300,7 @@ class MathOperations {
}
static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
/* do not use this. takes 300ms */
float det = 0;
T1 matrix[size][size], submatrix[size - 1][size - 1];
for (uint8_t row = 0; row < size; row++) {
@ -329,9 +330,7 @@ class MathOperations {
}
static int inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
if (MathOperations<T1>::matrixDeterminant(inputMatrix, size) == 0) {
return 1; // Matrix is singular and not invertible
}
// Stopwatch stopwatch;
T1 matrix[size][size], identity[size][size];
// reformat array to matrix
for (uint8_t row = 0; row < size; row++) {
@ -346,7 +345,6 @@ class MathOperations {
}
// gauss-jordan algo
// sort matrix such as no diag entry shall be 0
// should not be needed as such a matrix has a det=0
for (uint8_t row = 0; row < size; row++) {
if (matrix[row][row] == 0.0) {
bool swaped = false;

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@ -67,6 +67,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
private:
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
};

2
tmtc

@ -1 +1 @@
Subproject commit da960b534475128c09b5d5e68813c243170c333b
Subproject commit d47e9039a5286cd7bbe67679f09f095863911b7e