eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into mueller_consecutive_tmtc_server

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This commit is contained in:
Robin Müller 2022-12-02 16:39:45 +01:00
commit 1c4e9c8db6
50 changed files with 6829 additions and 161 deletions
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7
CHANGELOG.md
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@ -8,6 +8,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.
# [unreleased]
## Added
- First version of ACS controller
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
# [v1.18.0] 01.12.2022
## Changed

2
bsp_q7s/OBSWConfig.h.in
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@ -23,7 +23,7 @@
#define OBSW_ADD_SUN_SENSORS @OBSW_ADD_SUN_SENSORS@
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
#define OBSW_ADD_ACS_CTRL @OBSW_ADD_ACS_CTRL@
#define OBSW_ADD_ACS_CTRL 1
#define OBSW_ADD_GPS_CTRL @OBSW_ADD_GPS_CTRL@
#define OBSW_ADD_TCS_CTRL @OBSW_ADD_TCS_CTRL@
#define OBSW_ADD_RW @OBSW_ADD_RW@

29
bsp_q7s/core/scheduling.cpp
View File

@ -183,6 +183,35 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);

1
dummies/CMakeLists.txt
View File

@ -13,6 +13,7 @@ target_sources(
PduDummy.cpp
P60DockDummy.cpp
SaDeploymentDummy.cpp
GpsDummy.cpp
GyroAdisDummy.cpp
GyroL3GD20Dummy.cpp
MgmLIS3MDLDummy.cpp

56
dummies/GpsDummy.cpp Normal file
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@ -0,0 +1,56 @@
#include "GpsDummy.h"
#include <mission/devices/devicedefinitions/GPSDefinitions.h>
GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
GpsDummy::~GpsDummy() {}
void GpsDummy::doStartUp() {}
void GpsDummy::doShutDown() {}
ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
return returnvalue::OK;
}
ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
return returnvalue::OK;
}
ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return returnvalue::OK;
}
void GpsDummy::fillCommandAndReplyMap() {}
uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({7684.2}));
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({0}));
return returnvalue::OK;
}

33
dummies/GpsDummy.h Normal file
View File

@ -0,0 +1,33 @@
#ifndef DUMMIES_GPSDUMMY_H_
#define DUMMIES_GPSDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class GpsDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
static const DeviceCommandId_t PERIODIC_REPLY = 2;
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~GpsDummy();
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
};
#endif /* DUMMIES_GPSDUMMY_H_ */

7
dummies/GyroAdisDummy.cpp
View File

@ -40,6 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

6
dummies/GyroL3GD20Dummy.cpp
View File

@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

4
dummies/ImtqDummy.cpp
View File

@ -39,5 +39,9 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
return returnvalue::OK;
}

2
dummies/MgmLIS3MDLDummy.cpp
View File

@ -41,5 +41,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
new PoolEntry<float>({1.02, 0.56, -0.78}, true));
return returnvalue::OK;
}

4
dummies/MgmRm3100Dummy.cpp
View File

@ -36,5 +36,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return OK;
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
new PoolEntry<float>({0.87, -0.95, 0.11}, true));
return returnvalue::OK;
}

24
dummies/StarTrackerDummy.cpp
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@ -41,5 +41,29 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(startracker::CALI_QW, new PoolEntry<float>({1.0}, true));
localDataPoolMap.emplace(startracker::CALI_QX, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::CALI_QY, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::CALI_QZ, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::TRACK_CONFIDENCE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QW, new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(startracker::TRACK_QX, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QY, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QZ, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::LISA_QW, new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(startracker::LISA_QX, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_QY, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
return returnvalue::OK;
}

84
dummies/SusDummy.cpp
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@ -1,79 +1,43 @@
#include "SusDummy.h"
#include <objects/systemObjectList.h>
SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), susSet(this) {}
#include <cmath>
#include <cstdlib>
SusDummy::~SusDummy() {}
SusDummy::SusDummy() : ExtendedControllerBase(objects::SUS_0_N_LOC_XFYFZM_PT_XF), susSet(this) {
ObjectManager::instance()->insert(objects::SUS_6_R_LOC_XFYBZM_PT_XF, this);
ObjectManager::instance()->insert(objects::SUS_1_N_LOC_XBYFZM_PT_XB, this);
ObjectManager::instance()->insert(objects::SUS_7_R_LOC_XBYBZM_PT_XB, this);
ObjectManager::instance()->insert(objects::SUS_2_N_LOC_XFYBZB_PT_YB, this);
ObjectManager::instance()->insert(objects::SUS_8_R_LOC_XBYBZB_PT_YB, this);
ObjectManager::instance()->insert(objects::SUS_3_N_LOC_XFYBZF_PT_YF, this);
ObjectManager::instance()->insert(objects::SUS_9_R_LOC_XBYBZB_PT_YF, this);
ObjectManager::instance()->insert(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, this);
ObjectManager::instance()->insert(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, this);
ObjectManager::instance()->insert(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, this);
ObjectManager::instance()->insert(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
}
ReturnValue_t SusDummy::initialize() {
static bool done = false;
if (not done) {
done = true;
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
void SusDummy::doStartUp() {}
void SusDummy::doShutDown() {}
ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
ReturnValue_t SusDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t SusDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
return returnvalue::OK;
}
ReturnValue_t SusDummy::handleCommandMessage(CommandMessage* message) {
return returnvalue::FAILED;
ReturnValue_t SusDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
return returnvalue::OK;
}
void SusDummy::performControlOperation() {
iteration++;
value = sin(iteration / 80. * M_PI + 10) * 10 - 10;
ReturnValue_t SusDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return returnvalue::OK;
}
susSet.read();
susSet.temperatureCelcius = value;
if ((iteration % 100) < 20) {
susSet.setValidity(false, true);
} else {
susSet.setValidity(true, true);
}
susSet.commit();
}
void SusDummy::fillCommandAndReplyMap() {}
uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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}));
localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
return returnvalue::OK;
}
LocalPoolDataSetBase* SusDummy::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case SUS::SUS_DATA_SET_ID:
return &susSet;
default:
return nullptr;
}
}
ReturnValue_t SusDummy::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return returnvalue::OK;
}

47
dummies/SusDummy.h
View File

@ -1,27 +1,36 @@
#pragma once
#ifndef DUMMIES_SUSDUMMY_H_
#define DUMMIES_SUSDUMMY_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/devices/devicedefinitions/SusDefinitions.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class SusDummy : public ExtendedControllerBase {
#include "mission/devices/devicedefinitions/SusDefinitions.h"
class SusDummy : public DeviceHandlerBase {
public:
SusDummy();
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
static const DeviceCommandId_t PERIODIC_REPLY = 2;
ReturnValue_t initialize() override;
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~SusDummy();
protected:
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
int iteration = 0;
float value = 0;
SUS::SusDataset susSet;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
};
#endif /* DUMMIES_SUSDUMMY_H_ */

15
dummies/helpers.cpp
View File

@ -5,6 +5,7 @@
#include <dummies/ComCookieDummy.h>
#include <dummies/ComIFDummy.h>
#include <dummies/CoreControllerDummy.h>
#include <dummies/GpsDummy.h>
#include <dummies/GyroAdisDummy.h>
#include <dummies/GyroL3GD20Dummy.h>
#include <dummies/ImtqDummy.h>
@ -59,10 +60,22 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new GpsDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
}
if (cfg.addSusDummies) {
new SusDummy();
new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
}
if (cfg.addTempSensorDummies) {

586
mission/controller/AcsController.cpp
View File

@ -5,7 +5,25 @@
#include "mission/devices/torquer.h"
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId), mgmData(this) {}
: ExtendedControllerBase(objectId),
sensorProcessing(&acsParameters),
navigation(&acsParameters),
actuatorCmd(&acsParameters),
guidance(&acsParameters),
safeCtrl(&acsParameters),
detumble(&acsParameters),
ptgCtrl(&acsParameters),
detumbleCounter{0},
mgmDataRaw(this),
mgmDataProcessed(this),
susDataRaw(this),
susDataProcessed(this),
gyrDataRaw(this),
gyrDataProcessed(this),
gpsDataProcessed(this),
mekfData(this),
ctrlValData(this),
actuatorCmdData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK;
@ -25,6 +43,21 @@ void AcsController::performControlOperation() {
return;
}
case InternalState::READY: {
if (mode != MODE_OFF) {
switch (submode) {
case SUBMODE_SAFE:
performSafe();
break;
case SUBMODE_DETUMBLE:
performDetumble();
break;
case SUBMODE_PTG_TARGET:
case SUBMODE_PTG_NADIR:
case SUBMODE_PTG_INERTIAL:
performPointingCtrl();
break;
}
}
break;
}
default:
@ -32,76 +65,569 @@ void AcsController::performControlOperation() {
}
{
// TODO: Calculate actuator output
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// TODO: Insert correct values here
// dipoleSet.setDipoles(500, 500, 500, 150);
}
{
PoolReadGuard pg(&mgmData);
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() {
// Concept: SAFE MODE WITH MEKF
// -do the sensor processing, maybe is does make more sense do call this class function in
// another place since we have to do it for every mode regardless of safe or not
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
// Give desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
// IF MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (validMekf == returnvalue::OK) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
} else {
safeCtrl.safeNoMekf(
now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
}
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
double zeroQuat[4] = {0, 0, 0, 0};
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
}
// Detumble check and switch
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE;
detumbleCounter = 0;
triggerEvent(SAFE_RATE_VIOLATION);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0};
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
// }
}
void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
double magMomMtq[3] = {0, 0, 0};
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0;
}
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0};
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
}
void AcsController::performPointingCtrl() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
double rwTrqNs[4] = {0, 0, 0, 0};
ptgCtrl.ptgNullspace(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
actuatorCmd.cmdSpeedToRws(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
rwTrqNs, cmdSpeedRws);
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
}
int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; ++i) {
cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
actuatorCmdData.setValidity(true, true);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
// MGM Raw
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
// MGM Processed
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
// SUS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_VEC, &sus2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_VEC, &sus3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_VEC, &sus4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_VEC, &sus5VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_VEC, &sus6VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_VEC, &sus7VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_VEC, &sus8VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_VEC, &sus9VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_VEC, &sus10VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_VEC, &sus11VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForRegularPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForRegularPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
poolManager.subscribeForRegularPeriodicPacket({mekfData.getSid(), false, 5.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
return returnvalue::OK;
}
LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
if (sid == mgmData.getSid()) {
return &mgmData;
switch (sid.ownerSetId) {
case acsctrl::MGM_SENSOR_DATA:
return &mgmDataRaw;
case acsctrl::MGM_PROCESSED_DATA:
return &mgmDataProcessed;
case acsctrl::SUS_SENSOR_DATA:
return &susDataRaw;
case acsctrl::SUS_PROCESSED_DATA:
return &susDataProcessed;
case acsctrl::GYR_SENSOR_DATA:
return &gyrDataRaw;
case acsctrl::GYR_PROCESSED_DATA:
return &gyrDataProcessed;
case acsctrl::GPS_PROCESSED_DATA:
return &gpsDataProcessed;
case acsctrl::MEKF_DATA:
return &mekfData;
case acsctrl::CTRL_VAL_DATA:
return &ctrlValData;
case acsctrl::ACTUATOR_CMD_DATA:
return &actuatorCmdData;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
if (mode == MODE_OFF) {
if (submode == SUBMODE_NONE) {
return returnvalue::OK;
} else {
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > 6) || (submode < 2)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
}
}
return INVALID_MODE;
}
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
void AcsController::announceMode(bool recursive) {}
void AcsController::copyMgmData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&mgm0Lis3Set);
PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm0Lis3.value, sensorValues.mgm0Lis3Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm0Lis3.setValid(sensorValues.mgm0Lis3Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm1Rm3100Set);
PoolReadGuard pg(&sensorValues.mgm1Rm3100Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm1Rm3100.value, sensorValues.mgm1Rm3100Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm1Rm3100.setValid(sensorValues.mgm1Rm3100Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm2Lis3Set);
PoolReadGuard pg(&sensorValues.mgm2Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm2Lis3.value, sensorValues.mgm2Lis3Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm2Lis3.setValid(sensorValues.mgm2Lis3Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm3Rm3100Set);
PoolReadGuard pg(&sensorValues.mgm3Rm3100Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm3Rm3100.value, sensorValues.mgm3Rm3100Set.fieldStrengths.value,
3 + sizeof(float));
mgmDataRaw.mgm3Rm3100.setValid(sensorValues.mgm3Rm3100Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&imtqMgmSet);
PoolReadGuard pg(&sensorValues.imtqMgmSet);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.imtqRaw.value, imtqMgmSet.mtmRawNt.value, 3 * sizeof(float));
mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
std::memcpy(mgmDataRaw.imtqRaw.value, sensorValues.imtqMgmSet.mtmRawNt.value,
3 * sizeof(float));
mgmDataRaw.imtqRaw.setValid(sensorValues.imtqMgmSet.mtmRawNt.isValid());
mgmDataRaw.actuationCalStatus.value = sensorValues.imtqMgmSet.coilActuationStatus.value;
mgmDataRaw.actuationCalStatus.setValid(sensorValues.imtqMgmSet.coilActuationStatus.isValid());
}
}
}
void AcsController::copySusData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.susSets[0]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus0.setValid(sensorValues.susSets[0].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[1]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus1.value, sensorValues.susSets[1].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus1.setValid(sensorValues.susSets[1].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[2]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus2.value, sensorValues.susSets[2].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus2.setValid(sensorValues.susSets[2].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[3]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus3.value, sensorValues.susSets[3].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus3.setValid(sensorValues.susSets[3].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[4]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus4.value, sensorValues.susSets[4].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus4.setValid(sensorValues.susSets[4].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[5]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus5.value, sensorValues.susSets[5].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus5.setValid(sensorValues.susSets[5].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[6]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus6.value, sensorValues.susSets[6].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus6.setValid(sensorValues.susSets[6].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[7]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus7.value, sensorValues.susSets[7].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus7.setValid(sensorValues.susSets[7].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[8]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus8.value, sensorValues.susSets[8].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus8.setValid(sensorValues.susSets[8].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[9]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus9.value, sensorValues.susSets[9].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus9.setValid(sensorValues.susSets[9].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[10]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus10.value, sensorValues.susSets[10].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus10.setValid(sensorValues.susSets[10].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[11]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus11.value, sensorValues.susSets[11].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus11.setValid(sensorValues.susSets[11].channels.isValid());
}
}
}
void AcsController::copyGyrData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.gyr0AdisSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr0Adis.value[0] = sensorValues.gyr0AdisSet.angVelocX.value;
gyrDataRaw.gyr0Adis.value[1] = sensorValues.gyr0AdisSet.angVelocY.value;
gyrDataRaw.gyr0Adis.value[2] = sensorValues.gyr0AdisSet.angVelocZ.value;
gyrDataRaw.gyr0Adis.setValid(sensorValues.gyr0AdisSet.angVelocX.isValid() &&
sensorValues.gyr0AdisSet.angVelocY.isValid() &&
sensorValues.gyr0AdisSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr1L3gSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr1L3.value[0] = sensorValues.gyr1L3gSet.angVelocX.value;
gyrDataRaw.gyr1L3.value[1] = sensorValues.gyr1L3gSet.angVelocY.value;
gyrDataRaw.gyr1L3.value[2] = sensorValues.gyr1L3gSet.angVelocZ.value;
gyrDataRaw.gyr1L3.setValid(sensorValues.gyr1L3gSet.angVelocX.isValid() &&
sensorValues.gyr1L3gSet.angVelocY.isValid() &&
sensorValues.gyr1L3gSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr2AdisSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr2Adis.value[0] = sensorValues.gyr2AdisSet.angVelocX.value;
gyrDataRaw.gyr2Adis.value[1] = sensorValues.gyr2AdisSet.angVelocY.value;
gyrDataRaw.gyr2Adis.value[2] = sensorValues.gyr2AdisSet.angVelocZ.value;
gyrDataRaw.gyr2Adis.setValid(sensorValues.gyr2AdisSet.angVelocX.isValid() &&
sensorValues.gyr2AdisSet.angVelocY.isValid() &&
sensorValues.gyr2AdisSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr3L3gSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr3L3.value[0] = sensorValues.gyr3L3gSet.angVelocX.value;
gyrDataRaw.gyr3L3.value[1] = sensorValues.gyr3L3gSet.angVelocY.value;
gyrDataRaw.gyr3L3.value[2] = sensorValues.gyr3L3gSet.angVelocZ.value;
gyrDataRaw.gyr3L3.setValid(sensorValues.gyr3L3gSet.angVelocX.isValid() &&
sensorValues.gyr3L3gSet.angVelocY.isValid() &&
sensorValues.gyr3L3gSet.angVelocZ.isValid());
}
}
}

159
mission/controller/AcsController.h
View File

@ -2,7 +2,15 @@
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "acs/control/SafeCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
@ -16,10 +24,38 @@ class AcsController : public ExtendedControllerBase {
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_TARGET = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_INERTIAL = 6;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
protected:
void performSafe();
void performDetumble();
void performPointingCtrl();
private:
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;
ActuatorCmd actuatorCmd;
Guidance guidance;
SafeCtrl safeCtrl;
Detumble detumble;
PtgCtrl ptgCtrl;
uint8_t detumbleCounter;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -30,45 +66,100 @@ class AcsController : public ExtendedControllerBase {
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
// MGMs
acsctrl::MgmDataRaw mgmData;
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
/* ACS Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;
PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
void copyMgmData();
// Sun Sensors
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
acsctrl::MgmDataProcessed mgmDataProcessed;
PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
PoolEntry<double> magIgrf = PoolEntry<double>(3);
// SUSs
acsctrl::SusDataRaw susDataRaw;
PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
void copySusData();
acsctrl::SusDataProcessed susDataProcessed;
PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
PoolEntry<double> susVecTot = PoolEntry<double>(3);
PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
PoolEntry<double> sunIjk = PoolEntry<double>(3);
// GYRs
acsctrl::GyrDataRaw gyrDataRaw;
PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
void copyGyrData();
acsctrl::GyrDataProcessed gyrDataProcessed;
PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
// GPS
acsctrl::GpsDataProcessed gpsDataProcessed;
PoolEntry<double> gcLatitude = PoolEntry<double>();
PoolEntry<double> gdLongitude = PoolEntry<double>();
// MEKF
acsctrl::MekfData mekfData;
PoolEntry<double> quatMekf = PoolEntry<double>(4);
PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>();
// Actuator CMD
acsctrl::ActuatorCmdData actuatorCmdData;
PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);

2
mission/controller/CMakeLists.txt
View File

@ -2,3 +2,5 @@ if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
AcsController.cpp)
endif()
add_subdirectory(acs)

544
mission/controller/acs/AcsParameters.cpp Normal file
View File

@ -0,0 +1,544 @@
#include "AcsParameters.h"
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <stddef.h>
AcsParameters::AcsParameters(){}; //(uint8_t parameterModuleId) :
// parameterModuleId(parameterModuleId) {}
AcsParameters::~AcsParameters() {}
/*ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId == parameterModuleId) {
switch (parameterId >> 8) {
case 0x0: // direct members
switch (parameterId & 0xFF) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x1: // OnBoardParams
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(onBoardParams.sampleTime);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x2: // InertiaEIVE
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(inertiaEIVE.inertiaMatrix);
break;
case 0x1:
parameterWrapper->set(inertiaEIVE.inertiaMatrixInverse);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x3: // MgmHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
break;
case 0x6:
parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
break;
case 0x7:
parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
break;
case 0x8:
parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
break;
case 0x9:
parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
break;
case 0xA:
parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
break;
case 0xB:
parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
break;
case 0xC:
parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
break;
case 0xD:
parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
break;
case 0xE:
parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x4: // SusHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
break;
case 0x6:
parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
break;
case 0x7:
parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
break;
case 0x8:
parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
break;
case 0x9:
parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
break;
case 0xA:
parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
break;
case 0xB:
parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
break;
case 0xC:
parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
break;
case 0xD:
parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
break;
case 0xE:
parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
break;
case 0xF:
parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
break;
case 0x10:
parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
break;
case 0x11:
parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
break;
case 0x12:
parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
break;
case 0x13:
parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
break;
case 0x14:
parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
break;
case 0x15:
parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
break;
case 0x16:
parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
break;
case 0x17:
parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
break;
case 0x18:
parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
break;
case 0x19:
parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
break;
case 0x1A:
parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
break;
case 0x1B:
parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
break;
case 0x1C:
parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
break;
case 0x1D:
parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
break;
case 0x1E:
parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
break;
case 0x1F:
parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
break;
case 0x20:
parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
break;
case 0x21:
parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
break;
case 0x22:
parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
break;
case 0x23:
parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
break;
case 0x24:
parameterWrapper->set(susHandlingParameters.filterAlpha);
break;
case 0x25:
parameterWrapper->set(susHandlingParameters.sunThresh);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x5): // GyrHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(gyrHandlingParameters.gyrFusionWeight);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x6): // RwHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(rwHandlingParameters.rw0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(rwHandlingParameters.rw1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(rwHandlingParameters.rw2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(rwHandlingParameters.rw3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(rwHandlingParameters.inertiaWheel);
break;
case 0x5:
parameterWrapper->set(rwHandlingParameters.maxTrq);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x7): // RwMatrices
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(rwMatrices.alignmentMatrix);
break;
case 0x1:
parameterWrapper->set(rwMatrices.pseudoInverse);
break;
case 0x2:
parameterWrapper->set(rwMatrices.without0);
break;
case 0x3:
parameterWrapper->set(rwMatrices.without1);
break;
case 0x4:
parameterWrapper->set(rwMatrices.without2);
break;
case 0x5:
parameterWrapper->set(rwMatrices.without3);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x8): // SafeModeControllerParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
break;
case 0x1:
parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
break;
case 0x2:
parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf);
break;
case 0x3:
parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
break;
case 0x4:
parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
break;
case 0x5:
parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
break;
case 0x6:
parameterWrapper->set(safeModeControllerParameters.satRateRef);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x9): // DetumbleCtrlParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(detumbleCtrlParameters.gainD);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xA): // PointingModeControllerParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(targetModeControllerParameters.updtFlag);
break;
case 0x1:
parameterWrapper->set(targetModeControllerParameters.A_rw);
break;
case 0x2:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0x3:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0x4:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x7:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.zeta);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.zetaLow);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.om);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.omLow);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.omMax);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.qiMin);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.omegaEarth);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // StrParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(strParameters.exclusionAngle);
break;
case 0x1:
parameterWrapper->set(strParameters.boresightAxis);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // GpsParameters
switch (parameterId & 0xFF) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xD): // GroundStationParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(groundStationParameters.latitudeGs);
break;
case 0x1:
parameterWrapper->set(groundStationParameters.longitudeGs);
break;
case 0x2:
parameterWrapper->set(groundStationParameters.altitudeGs);
break;
case 0x3:
parameterWrapper->set(groundStationParameters.earthRadiusEquat);
break;
case 0x4:
parameterWrapper->set(groundStationParameters.earthRadiusPolar);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xE): // SunModelParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(sunModelParameters.useSunModel);
break;
case 0x1:
parameterWrapper->set(sunModelParameters.domega);
break;
case 0x2:
parameterWrapper->set(sunModelParameters.omega_0);
break;
case 0x3:
parameterWrapper->set(sunModelParameters.m_0);
break;
case 0x4:
parameterWrapper->set(sunModelParameters.dm);
break;
case 0x5:
parameterWrapper->set(sunModelParameters.e);
break;
case 0x6:
parameterWrapper->set(sunModelParameters.e1);
break;
case 0x7:
parameterWrapper->set(sunModelParameters.p1);
break;
case 0x8:
parameterWrapper->set(sunModelParameters.p2);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xF): // KalmanFilterParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(kalmanFilterParameters.activateKalmanFilter);
break;
case 0x1:
parameterWrapper->set(kalmanFilterParameters.requestResetFlag);
break;
case 0x2:
parameterWrapper->set(
kalmanFilterParameters.maxToleratedTimeBetweenKalmanFilterExecutionSteps);
break;
case 0x3:
parameterWrapper->set(kalmanFilterParameters.processNoiseOmega);
break;
case 0x4:
parameterWrapper->set(kalmanFilterParameters.processNoiseQuaternion);
break;
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
break;
case 0x6:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
break;
case 0x7:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
break;
case 0x8:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
break;
case 0x9:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
break;
case 0xA:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x10): // MagnetorquesParameter
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
break;
case 0x4:
parameterWrapper->set(magnetorquesParameter.inverseAlignment);
break;
case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x11): // DetumbleParameter
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(detumbleParameter.detumblecounter);
break;
case 0x1:
parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
break;
case 0x2:
parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
default:
return INVALID_IDENTIFIER_ID;
}
return returnvalue::OK;
} else {
return INVALID_DOMAIN_ID;
}
}*/

905
mission/controller/acs/AcsParameters.h Normal file
View File

@ -0,0 +1,905 @@
/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef ACSPARAMETERS_H_
#define ACSPARAMETERS_H_
#include <fsfw/parameters/HasParametersIF.h>
#include <cmath>
typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ {
public:
AcsParameters();
virtual ~AcsParameters();
/*
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
*/
struct OnBoardParams {
double sampleTime = 0.1; // [s]
} onBoardParams;
struct InertiaEIVE {
double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
double inertiaMatrixInverse[3][3];
} inertiaEIVE;
struct MgmHandlingParameters {
float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
{9.352825e-3, 1031.965e-3, -80.02734e-3},
{-127.1979e-3, -80.02734e-3, 934.8899e-3}};
float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
{-4.146410e-2, 109.3310e-2, -5.246314e-2},
{-18.37963e-2, -5.246314e-2, 105.7300e-2}};
float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
{7.095763e-2, 99.65167e-2, -6.958760e-2},
{15.67482e-2, -6.958760e-2, 94.50124e-2}};
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
} mgmHandlingParameters;
struct SusHandlingParameters {
float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM07
float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM06
float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM13
float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM14
float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM05
float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM02
float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM10
float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM01
float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM03
float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM11
float sus10orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM09
float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM08
float sus0coeffAlpha[9][10] = {
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-0.000124096561459262, 0.00040790566176981},
{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
1.63114413539632e-05, -2.0187452317724e-05},
{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-0.000249094601806692, 0.000231466668650876},
{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-9.78534772816957e-06, -4.72083745991256e-05},
{0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
0.00010150571088124, -0.000367705461590854},
{3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
6.97244631313601e-05, 2.50519145070895e-05},
{-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-1.78466217018177e-05, -0.00058976234038192},
{1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-2.73407888222758e-05, 5.45131881032866e-06},
{43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-0.000889196131314391, -0.000509766491897672}};
float sus0coeffBeta[9][10] = {
{1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-5.52178824394723e-06, 5.73935295303589e-05},
{3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-7.58501977656551e-05, -8.79809730730992e-05},
{14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-0.00020861690864945},
{1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-6.00508568552101e-05, 0.000101583822589461},
{-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
0.000316835483508523, 0.000151442890664899},
{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-9.83662017231755e-05, 1.87078667116619e-05},
{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-0.000285438191474895, -5.71327627917386e-05},
{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-9.77555098179959e-05, 2.09624089449761e-05},
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
0.000141998709314758, 0.000101051304611037}};
float sus1coeffAlpha[9][10] = {
{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
-0.000178087038629721, 4.09208968678946e-05},
{2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385,
0.0117765927439368, -0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956,
-9.10792250542345e-06, -2.03870119873411e-05},
{26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656,
0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331,
-0.00063621309529853, -0.00158363678978767},
{-0.221893380318465, 1.29919955307083, 0.21872487901019, 0.0049448219667127,
0.00291224091529189, 0.00654651987282984, -9.86842469311185e-05, 8.20057454706638e-05,
6.42331081725944e-05, 7.11656918299053e-05},
{1.40178843964621, 1.1733111455249, 0.287485528779234, -0.000793970428759834,
0.000170529273905818, -0.00268807864923086, 9.09553964483881e-05, -0.000271892733575409,
8.52016306311741e-05, -0.000291797625433646},
{0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958,
-0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05,
2.84958344955681e-05, 0.000128583400693359},
{6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284,
-0.0158258335207969, 0.0328249756354635, 0.00027113042931131, -0.000133980867173428,
-0.000357964552318811, 0.000224235061786191},
{2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401,
-0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05,
3.28466749016414e-05, -6.63837547601294e-06},
{42.615758859473, 2.46617281707273, -5.742515881283, -0.131942799763164, 0.20250702826603,
0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977,
-0.00058814458116749}};
float sus1coeffBeta[9][10] = {
{-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722,
-0.04872758086642, -0.0114263851027856, 0.000141061196404012, -0.000675469545483099,
-0.000138249928781575, -0.000138871036200597},
{10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535,
0.00151674939001532, -0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05,
-4.15760162347772e-05, -7.60797902457032e-05},
{-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328,
0.00379001947505376, -0.165444163648109, 0.000516545385538741, 1.56053219154647e-05,
-5.58651971370719e-05, 0.00173185063955313},
{12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331,
-0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05,
-5.67352645830913e-05, 0.000232270832022029},
{4.4338108906594, -0.305276965994378, 1.17293558142526, 0.000152618994429577,
0.00134432642920902, -0.00104036813342885, 0.000334476082056995, 6.74826804343671e-05,
0.000275311897725414, 7.58157740577916e-05},
{3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268,
0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05,
-2.61224817848938e-05, 6.00381132540332e-05},
{29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232,
-0.0474780142430845, 0.0486755575785462, 0.000126295091963757, 0.000526632230895258,
-0.000259305985126003, 0.000412751148048724},
{2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753,
-0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271,
-8.47348746872376e-05, -1.92509604512729e-06},
{-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815,
0.0887545371234514, -0.193862330062381, 0.000216532998121618, -0.00207707610520973,
0.000552928905346826, 0.00190182163597828}};
float sus2coeffAlpha[9][10] = {
{6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
9.74494676304114e-05, 0.000334122888261002},
{0.954398509323963, 1.10996214782069, 0.313314231563221, -0.00367553051112208,
0.0110290193380194, 0.000240079475656232, -6.93444423181303e-05, 0.000107433381295167,
1.30750132315838e-05, -2.43580795300515e-05},
{-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258,
0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709,
-0.000586102213707195, 0.000658133691098817},
{1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053,
0.00202677073171519, 0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05,
3.93641210098335e-05, 4.06398431916703e-05},
{3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784,
-0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589,
0.000137876961532787, -0.000326798596746712},
{6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201,
0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06,
7.25318569569788e-06, -2.5930447720704e-05},
{191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846,
-0.344226468125615, 0.126267158197535, -0.00186612281541009, 0.00304415728817747,
-0.00304958575196089, 0.000457236034569107},
{5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849,
-0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05,
5.81988007269583e-05, 1.3723604109425e-05},
{98.0250669452855, -2.18500123986039, -6.68238707939385, 0.000754807832106659,
0.256133336978808, 0.110826583415768, 0.000457663127670018, -0.00197655629847616,
-0.00254305206375073, -0.000466731538082995}};
float sus2coeffBeta[9][10] = {
{41.1102358678699, 2.3034699186519, 2.74551448799899, 0.061701310929235, 0.0317074142089495,
0.0308171492962288, 0.00049453042200054, 0.000519222896270701, 2.85420168881716e-05,
0.000259197384126413},
{4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156,
0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05,
-5.49439160235527e-05, -8.30708110469922e-05},
{64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773,
-0.077990648565002, 0.0613989204238974, 0.00055512113297293, -0.000347045533958329,
0.00104059576098392, -0.000348638726253297},
{3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723,
-0.0067958260462381, 0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05,
-5.55828531601728e-05, 0.000109833374761172},
{0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939,
0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678,
0.000292373398965513, 0.000183599033441813},
{2.84967971406268, -0.21374251183113, 1.09938586447269, 2.34894704600407e-05,
0.00588345375399262, 0.00296966835738407, 8.42707308834155e-06, 2.81870099202641e-06,
-3.56732787246631e-05, -7.04534663356379e-05},
{-7.59892007483895, 0.358662160515702, 0.805137646978357, 0.00222144376998348,
0.0464438387809707, 0.00847551828841782, 3.24805702347551e-05, 5.45500807838332e-05,
0.000941378089367713, 0.000353137737023192},
{-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975,
0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05,
-7.47076172176468e-05, -1.94516917836346e-05},
{-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197,
-0.0380997421813177, -0.0581898335691109, 0.00111464935006159, 0.000559313074537689,
0.000168067749764069, 0.000563224178849256}};
float sus3coeffAlpha[9][10] = {
{-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986,
-0.242523652239734, -0.202086838965846, -0.00138648793335223, -0.00225430176012882,
-0.00198887215340364, -0.00160678535160774},
{6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017,
0.00894059238779664, -0.000436952529644, 0.000138070523903458, 9.22759645920339e-05,
-9.4312261303588e-06, -1.76647897892869e-05},
{-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327,
0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969,
-0.000436055839773919, -9.5869891049503e-05},
{-4.9880829382985, 1.33627775121504, -0.330382157073243, 0.00306744056311184,
0.00376353074674973, -0.0107453978169225, -0.00010680477021693, 5.17225535432745e-05,
7.4423443938376e-05, -0.000107927900087035},
{0.952867982900728, 1.14513280899596, 0.307744203675505, 0.000404669974219378,
-0.000737988606997615, 0.00120218232577844, 0.000191147653645603, -0.000275058867995882,
0.000137187356620739, -0.000320202731145004},
{8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295,
-0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05,
7.80079707003333e-05, -8.95904360920744e-05},
{-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278,
0.130143669167547, 0.0284326533865768, 0.00149831261351137, -0.0011583692969717,
0.0010560778729661, 0.000635404380970666},
{3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041,
-0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05,
-3.54608413548779e-05, 8.54042677832451e-06},
{78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499,
0.146629920899062, 0.110698519952472, 6.64041537651749e-05, -0.00120174584530713,
-0.00133177694921411, -0.000796422644338886}};
float sus3coeffBeta[9][10] = {
{-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957,
-0.11257100034746, 0.102120576206517, -0.000796645106694696, -0.00192211266325167,
-4.99981232866237e-05, 0.00104036677004523},
{-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119,
0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05,
-6.54571602919161e-05, -0.000104146832644606},
{24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466,
-0.0526971951753399, -0.0477053831942802, 0.000613806533422364, -0.000631628059238499,
0.00026217621127941, 0.000555307997961608},
{0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142,
-0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05,
-7.1643235604579e-06, 0.000147876621100347},
{-3.05400297018165, -0.316256447664344, 1.14841722699638, 0.000671621084688467,
-0.000906765726598906, 0.000687041032077189, 0.000323419818039841, 0.000128019308781935,
0.000286018723737538, 0.000192248693306256},
{-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05,
0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06,
-0.00014623717850039, 8.12219846932013e-06},
{110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034,
-0.142611297893517, -0.0141810186612052, -0.00275127095595919, 0.00160686698368569,
-0.000872029428758877, -0.000410522437887563},
{-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852,
0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05,
-5.87922606348196e-05, 2.56146268588382e-05},
{44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562,
0.108087933176612, -0.116711715153385, -0.00194260120960441, -0.0015752762498594,
-0.000331129410732722, 0.00125896996438418}};
float sus4coeffAlpha[9][10] = {
{-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283,
-0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497,
-9.79031907635314e-05, -1.49299384451257e-05},
{8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676,
0.00879426079919981, -0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05,
-3.56478452552367e-05, -1.65680920554434e-05},
{16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303,
0.0183175817756131, -0.008545409848878, 0.000422696533006382, -0.000268245978898508,
-0.000663188021815416, -7.51144017137827e-05},
{0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128,
0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05,
5.03074365340535e-05, 8.40279146176271e-05},
{2.37491588500165, 1.05997969088519, 0.309540461340971, -0.000405047711742513,
0.000462224730316111, -0.00201887171945793, 0.000260159805167265, -0.000282867209803598,
0.000201613303652666, -0.000277796442847579},
{6.36749007598708, 1.31659760017973, -0.122724934153231, -0.00328808937096891,
-0.00577347207798776, 0.00403172074457999, -7.45676459772001e-05, 1.79838644222274e-05,
0.000104552066440564, -2.78115121929346e-05},
{-47.9667098848496, 3.97703197139796, -1.96403894754299, -0.0577989657406978,
0.0634225576208007, -0.0346023445055141, 0.00045886475369098, -0.000326132951996844,
0.000716490441845967, -0.000136132038635483},
{6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045,
-0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187,
-3.3503088289589e-05, -1.03874407813931e-05},
{102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996,
0.216574192561683, 0.0750031215784663, -0.000147358932612646, -0.0023710703422108,
-0.00143310719642393, -0.000431914403446768}};
float sus4coeffBeta[9][10] = {
{-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659,
-0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431,
-0.00030514398458781, -0.000211986731019738},
{9.07644247897601, 0.207457289788099, 1.26735366597312, 0.00768477352180427,
0.00429230749575816, -0.00514802326062087, 7.56149591998578e-05, 8.42794730840662e-05,
-3.62215715492783e-05, -5.24384190165239e-05},
{-33.5225408043693, -3.11167857248829, 1.91760591695775, -0.0963752386435729,
0.00026620241534153, -0.0256680391021823, -0.00102188712837393, 2.63753563968978e-05,
0.000113172463974702, 0.000271939918507175},
{19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458,
-0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05,
-1.22808643520768e-05, 0.000440555709696048},
{2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271,
0.00148059212230411, 0.000557885068990542, 0.000288633931072557, 0.000172775380291659,
0.000269738457990237, 0.000254577019084984},
{2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743,
0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05,
-0.000156735218010879, 3.81458400945988e-05},
{27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388,
-0.0341141456915131, 0.0281959785297513, -0.000252996164135396, 0.000163365679366542,
-0.000380129463154642, 0.000159350154429114},
{-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817,
-0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05,
-6.07188867796123e-05, 7.72199861279611e-06},
{-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647,
-0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745,
0.000698140692952438, 0.00123017528239406}};
float sus5coeffAlpha[9][10] = {
{-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049,
-0.0309683799946315, -0.0562201123081437, 0.000522607299552916, -0.000375386573815007,
-0.000183899715035788, -0.000600349486293698},
{4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035,
0.0108410181586673, -0.000272215427359511, 0.000124164068046579, 0.000125586897851351,
-1.24082224214974e-05, -1.63339067540159e-05},
{63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374,
-0.0652454854214506, -0.03906716801285, 0.00166924078925478, -0.000749939315526625,
0.000320696101132374, 0.000499934751180042},
{-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845,
0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05,
8.6123353128647e-05, 2.85447259858337e-05},
{0.164792977301912, 1.17541977248641, 0.348838798760518, -0.000180865118417534,
0.000331789515553421, -0.000734333865631793, 9.76677859410759e-05, -0.000324347075049525,
8.66683396011167e-05, -0.000385839566009832},
{-0.228934187493575, 1.30552820143752, 0.306779576899158, -0.00508763741184706,
-0.00318524263093038, -0.00878095392529144, -6.59040013073836e-05, 8.69122529321691e-05,
5.73853071731283e-05, 8.56628414466758e-05},
{22.6047744510684, -0.591739857860868, 0.566728856847393, 0.0498124268150265,
-0.0214126910277926, 0.00538091942017912, -0.000391517685229849, 0.000554321668236216,
0.000191004410219065, 0.000102775124022018},
{4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749,
-0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06,
-2.78503202185463e-05, 3.99983788680736e-06},
{-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189,
-0.0514805639475938, 0.0503660452068572, 0.00072776817295273, 0.00120288537038655,
-0.000301602375634166, -0.000477098479809266}};
float sus5coeffBeta[9][10] = {
{16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669,
0.0426379914736747, 0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05,
0.000645497238623369, -0.000234155227840799},
{9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363,
0.00581086655972212, -0.00365006277801141, 0.000180048140973223, 0.000102002650672644,
-4.10833110241736e-05, -8.7810396165556e-05},
{-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292,
0.0288441527062856, -0.00322823115861497, -0.00148509910480755, 0.000284265179004289,
-0.000175299737313045, -7.04175618676909e-05},
{3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265,
-0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05,
-8.33769024439277e-05, 6.90991113575066e-05},
{0.820199776906695, -0.355683467192776, 1.17142130858009, -0.000160174871610729,
4.09723480153701e-05, 0.000209103751629257, 0.000390331989170637, 6.45642836249667e-05,
0.000318092703362044, 0.000107158633760141},
{5.52084497768914, -0.227775345312466, 0.845897282556327, 0.00157426476122436,
0.00657189797805861, 0.0103797665963117, 2.51479848048895e-05, -4.78371400399983e-05,
-5.20221896473413e-05, -0.000143840492906166},
{-33.4875689683454, 0.937557276329106, -1.02741065470967, -0.0140023273976314,
0.0401908729477037, -0.0512457211360142, 7.05537967426573e-05, -0.00027521752411122,
0.000407657552700476, -0.000458411000693613},
{0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805,
-0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05,
-7.89362487264572e-05, -1.0951496495443e-05},
{-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539,
-0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
-0.000169538153750085, -0.000336529204350355}};
float sus6coeffAlpha[9][10] = {
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
0.00091428505258307, 0.000259857066722932},
{1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-1.06065583714065e-05, -1.43899892666699e-05},
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-4.88501228194031e-06, -0.000434861113274231},
{-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
6.09619017310129e-05, 4.23908862836885e-05},
{-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
0.000150795563555828, -0.000279246491927943},
{7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
9.13233708460098e-05, -0.000206717750924323},
{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-0.000532190902882765, 9.36018171121253e-05},
{-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
1.02609175615251e-05, -9.64717658954667e-06},
{-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
0.000868163357631254, 0.00120099606910313}};
float sus6coeffBeta[9][10] = {
{12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
0.000821479971871302, -4.5330528329465e-05},
{1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-4.04514487800062e-05, -7.6296149087237e-05},
{5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
0.0011723869613426, 0.000122882034141316},
{2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-5.87601932564404e-05, -3.92033314627704e-05},
{2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
0.000259925974231328, 0.000222437797823852},
{1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-4.33518182614169e-05, 4.66993119419691e-05},
{-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
0.000401546410974577, -0.000147563886502726},
{1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-5.3309466243918e-05, 6.20289310356821e-06},
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-0.000186887396585446, 0.00119710704771344}};
float sus7coeffAlpha[9][10] = {
{-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
-0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
-0.00119021101127241, -0.000460110780350978},
{1.60822506792345, 1.12993931449931, 0.300781032865641, -0.00405149856360946,
0.0116663280665617, -0.000746071920075153, -8.36092173253351e-05, 0.000126762041147563,
-1.57820750462019e-05, -2.13840141586661e-05},
{-151.403952985468, -5.77049222793992, 9.71132757422642, -0.113259116970462,
0.284142453949027, -0.198625061659164, -0.000836450164210354, 0.00174062771509636,
-0.00323746390757859, 0.00124721932086258},
{3.47391964888809, 1.28788318973591, 0.358380140281919, 0.0033863520864927,
0.00154601909793475, 0.0103457296050314, -9.56426572270873e-05, 5.48838958555808e-05,
2.97537427220847e-05, 0.000104735911514185},
{3.32650947866065, 1.16701012685798, 0.293514063672376, -0.00065850791542434,
-8.61746510464303e-05, -0.00212038990772211, 0.00010377123197, -0.000262818127593837,
0.000103360882478383, -0.000296739688930329},
{-0.440176043435378, 1.18923278867097, 0.519516382652818, -0.00138846714677511,
0.00266491699926247, -0.014254675949624, -4.20279929822439e-05, -5.49260281515447e-05,
-1.00328708454487e-05, 0.000138142092498215},
{9.54962966738358, 1.83809145920811, 1.82162819067959, -0.0116786627338505,
-0.00496037444422313, 0.0590883547819332, 7.48465315787857e-05, 0.000221693951602584,
7.96466345174136e-06, 0.000638822537725177},
{7.04862901290925, 0.876813777672465, 0.16368093989381, 0.00928717461441627,
-0.00276538956293246, 0.00117995419940653, -0.000141511492474493, -6.09796031786385e-06,
-2.62114930414747e-05, -2.88713611443788e-06},
{135.349147631811, -7.21933296299596, -6.02379024934871, 0.19557354282067,
0.207680233512614, 0.12880101618361, -0.00169832076532024, -0.00192216719797732,
-0.00188763612041332, -0.00103101801961442}};
float sus7coeffBeta[9][10] = {
{-12.7115487367622, -1.08890790360556, 0.0579616268854079, -0.0212303293514951,
-0.0395948453851818, -0.0275564242614342, -0.000228652851842222, -0.000148106159109458,
-0.000555136649469199, -0.000198260004582737},
{-0.988147625946871, -0.759018567468546, 1.20998292002818, -0.0241231836977845,
-0.000572110443300516, -0.00294835038249426, -0.00026533039022186, 6.82250069765274e-06,
7.21038415209318e-06, -6.54881435118179e-05},
{98.0979345921564, 4.27381413621355, -4.39956005193548, 0.0709109587666745,
-0.172774236139236, 0.107243391488741, 0.000421832640471043, -0.00140450884710288,
0.00158019019392239, -0.00078512547169536},
{4.10892685652543, -0.229301778557857, 1.33380992987117, -0.000250095848720304,
-0.00555205065514645, 0.00355052914398176, 1.62727119770752e-05, -1.26026527654764e-05,
-3.25505031810898e-05, 5.79970895921158e-06},
{3.09432502337258, -0.300556003790433, 1.17085811008124, 0.00128679594824324,
0.00148229981422985, 9.15267474159147e-05, 0.000300497843413856, 6.31378865575566e-05,
0.000258447032558814, 9.79142983264352e-05},
{8.92336134924575, -0.197306981784312, 0.659908505354084, 0.00175572239373996,
0.006801023678097, 0.0189775987436792, 9.2187857727721e-06, -4.8706332690626e-05,
-6.887009887486e-05, -0.000266455617735054},
{-52.0734887320227, 2.64822385560272, -1.72387600304694, -0.0383944891609251,
0.110873671161269, -0.0475247245070445, 0.000194652401328063, -0.000697307928990137,
0.00124021816001, -0.000194213899980878},
{2.08203985879155, -0.127503525368396, 1.17628056094647, 0.00283288065938444,
0.00394668214608305, 0.00314868636161131, -2.99504350569853e-05, -7.11070816314279e-05,
-6.30148122529749e-05, 2.28114298989664e-05},
{191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644,
0.331529493933124, 0.149867703984027, -0.00222279201444128, -0.00284724570619954,
-0.00298774060233964, -0.000988903783752156}};
float sus8coeffAlpha[9][10] = {
{5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431,
-0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058,
0.000198938007250408, 0.000102026690279006},
{8.8976133108173, 1.89502416095352, 0.268670471819199, 0.0217013413241972,
0.00973925295182384, -0.00116357269193765, 0.000185865842232419, 0.000103311614912702,
-2.46539447920969e-05, -2.06292928734686e-05},
{-45.4550803910752, 1.27220123406993, 5.21483855848504, 0.0315791081623634,
0.0725172355124129, -0.13947591535243, 0.000412577580637848, 0.000434545096994917,
-0.000840043932292312, 0.00126857487044307},
{1.81302768546433, 1.20563501267535, 0.344815267182167, 0.00546879453241056,
-0.00115382996865884, 0.010597876132341, -7.75885604486581e-05, 8.99568815949154e-05,
-2.98129544974679e-06, 0.000108913239345604},
{2.19111439539173, 1.06951675598148, 0.283707798607213, 0.00016478588207518,
0.000196086067268121, -0.00214980231173703, 0.000237820475654357, -0.000256402967908595,
0.000165966620658577, -0.000268394081675921},
{15.0858674915897, 1.27922724811168, -1.0803137812576, -0.00184009775302466,
-0.00458792284209219, 0.0359393555418547, -6.05121024079603e-05, -1.2288384024143e-05,
8.55484605384438e-05, -0.000379241348638065},
{-14.9594190080906, 1.79473182195746, -1.00830704063572, 0.000890685410857856,
0.0408932029176081, -0.0165460857151619, -0.000170544299916973, -0.000370901607010145,
0.000324089709129097, -9.33010240878062e-05},
{0.867614491733251, 1.38248194737027, 0.233408537422123, -0.00772942878114575,
-0.00783126068079782, -0.000413713955432221, 4.5775750146291e-05, 6.97323029940275e-05,
1.70664456940787e-05, 6.75517901233086e-06},
{2.34474364146174, -0.777275400251477, 2.09531381577911, 0.0170780716714389,
0.102855060371092, -0.1203441505925, 0.000187004964420911, -0.00141720441050986,
-0.000336251285258365, 0.00145175125888695}};
float sus8coeffBeta[9][10] = {
{28.3033101237397, 1.77504446792811, 1.70758838986317, 0.0307800697044683,
0.0598759344275936, -0.014461432284373, 0.000128415617799076, 0.000664419128546701,
0.000312923304130995, -0.000269026446641855},
{7.73040563051023, 0.0267291479555493, 1.16189582308493, 0.000611047892976521,
-0.00213680506915073, -0.00517435586596902, -3.60304406049766e-06, -1.74452976404459e-05,
-3.95396925228538e-05, -7.01948519410633e-05},
{-48.0766126130725, -3.77981206700298, 3.03482861087335, -0.0678496412519532,
0.115260678424016, -0.0109681510065038, -0.000438011443691466, 0.00097230136258486,
-0.000930875177732769, -0.000203144239955507},
{12.1881935626341, -0.234345089308583, 2.01134619426134, 0.000181529284001169,
-0.00642848065105061, 0.0243985799415726, 2.0224042581776e-05, 5.22503286757285e-06,
-4.75196303016323e-05, 0.000221160482364556},
{3.49559433498742, -0.294995112674766, 1.07892379698257, 0.000861664794052587,
0.00138978933062055, 0.000436385106465176, 0.000288095124755908, 0.000147259769247883,
0.000256686898599516, 0.000198982412957039},
{9.36663996178607, -0.171266136751803, 0.799869891484541, -0.000896305696610864,
0.00477919972789653, 0.0077876110326094, 9.16475263625076e-06, 3.02461250100473e-05,
-3.63917701783264e-05, -0.000101376940843402},
{9.93372683055145, 1.02056557854246, 3.01635426591734, -0.0477113881140277,
-0.0280426434406976, 0.0438813017696874, 0.000470431190169998, -7.55753674679743e-05,
-0.000516444906323815, 0.000253844418223843},
{4.12868774589741, -0.305711790187688, 1.15739216407191, 0.00942395115281056,
0.00264758462357433, 0.00227985850688479, -0.000107537164019682, -4.91396736189963e-05,
-5.3803493814502e-05, 6.80587059728718e-06},
{64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591,
0.0898786950946473, 0.128910456296131, -8.27123227422217e-05, -0.000143979624107479,
-0.00146684876653306, -0.00102226799570239}};
float sus9coeffAlpha[9][10] = {
{65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703,
0.119985456538482, 0.142746712551924, -0.000465882328687976, 0.000606525132125852,
0.00141667074621881, 0.00109715845894006},
{5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426,
0.00973291465247784, -0.00155675297510773, 0.000147099297988423, 0.000115708967219349,
-4.1462310493722e-05, -9.80097031103588e-06},
{138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519,
-0.143071750033303, 0.237868300719915, 0.000626693630444932, -0.000579788170871402,
0.00181740650944343, -0.00207086879728281},
{-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038,
0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05,
6.3416992450033e-05, -0.000190177262510221},
{0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05,
0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716,
7.71348293209208e-05, -0.000393885990364776},
{4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428,
0.0030051503726095, 0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05,
-4.43545804544095e-05, -4.83524454851519e-05},
{99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933,
-0.15701634159692, 0.107834711298836, -0.000885326636237814, 0.000960753844480462,
-0.00179894024848343, 0.000583066757644971},
{2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662,
-0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05,
-4.15108111710131e-06, 1.33520085213482e-05},
{36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879,
0.060573568610239, 0.0182582125221054, -0.000244373383911157, -0.000271385147292484,
-0.000723799969427732, 6.76324880239196e-05}};
float sus9coeffBeta[9][10] = {
{128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636,
0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017,
0.000556768406475719},
{-7.07933839681024, -0.979062424441878, 1.21792546815617, -0.0295740143783226,
-0.00442780611714201, -0.00329612819203176, -0.000291373125216143, -7.47259350176359e-05,
-4.87265282482212e-05, -7.87490350444332e-05},
{41.1357193180502, 2.75138456414254, -0.0160889117718198, 0.0274001112562423,
-0.145644717742057, -0.0316076203283094, -0.000136443337244472, -0.00153945199081365,
0.000938960439977633, 0.000599987111822885},
{2.7980384746608, -0.234741037383589, 1.5342193016705, -0.000993791566721689,
-0.00787533639513478, 0.00927468655141365, 2.63308697896639e-05, -3.42816267184975e-05,
-8.48879419798771e-05, 3.84043821333798e-05},
{0.427687530667804, -0.346076633694936, 1.22968527483851, -4.95098138311122e-05,
0.000298245372198029, 0.000332756250024796, 0.00040375986210644, 5.20675972504572e-05,
0.000327042170278218, 5.93011568264671e-05},
{4.50337810133314, -0.279364254817202, 0.945812187846199, 0.000116182663432306,
0.0115646046622083, 0.00908289960302886, 1.90394667311541e-05, -4.4360223646434e-06,
-0.000131398914898614, -0.000145568992865512},
{-36.3377213654193, 2.21047221783626, 0.0609982245149821, -0.0670546774988572,
0.016827777144747, -0.0277834084058314, 0.000778301409125556, 0.000135846745194401,
0.00043261858797068, -0.00021172728254561},
{-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792,
0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05,
-0.000107500091550635, -5.1379722947632e-07},
{-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584,
-0.0625549615377418, 0.019178365782485, 0.000664877496455304, 0.000942971403881222,
0.000190754698755098, -0.000372226659190439}};
float sus10coeffAlpha[9][10] = {
{14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
-0.000279407497782961, 0.000726904943739837},
{-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316,
0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05,
-3.13338277344246e-05, 5.32977236959767e-06},
{30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413,
-0.0553588742704929, 0.0299275582316466, 0.000167915322354466, -0.00050925078118232,
0.000463662961330962, -0.000232919143454163},
{2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675,
0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05,
6.4669137025142e-05, 0.000209727581169138},
{-0.784841314851562, 1.10058314980836, 0.314063830836532, 0.000583003703415889,
0.000312635453606579, -0.000183738114552387, 0.000214096205760617, -0.000286744686021244,
0.000159157597180407, -0.00032235099420715},
{7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199,
-0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05,
8.85844309936609e-05, -0.000143217870916994},
{-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416,
0.0385056413989437, -0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05,
0.000514049116643205, 0.000112015427600697},
{-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885,
-0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05,
-7.55982776243849e-06, 2.78417756661088e-06},
{-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327,
-0.0193152048730234, -0.0600902798379509, 0.00031786916010672, 0.000162178988605602,
0.000224550786416246, 0.000614337977361927}};
float sus10coeffBeta[9][10] = {
{12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043,
0.0220810531548995, -0.0220926906772, 0.000310052324529521, 0.000658151808869523,
-0.000288026365111098, -0.000214619731807045},
{-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075,
0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05,
-5.4550919751855e-05, -8.6314530565085e-05},
{-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321,
0.090326735447661, -0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509,
-0.000956171370931993, 0.000491554402311223},
{-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089,
-0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05,
-4.85061736834262e-05, -1.8387092782907e-06},
{-0.250205907903409, -0.315819331560782, 1.09018364376391, -0.000521787614293089,
-0.000500747760913489, 2.48184307342838e-05, 0.000313799238640988, 0.000136669146368744,
0.000278914324565192, 0.000218512838469476},
{-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669,
0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06,
-5.41141037812903e-05, 8.50767021818388e-06},
{58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612,
-0.112195722921667, 0.0890150265857542, -0.000100675657768708, 0.000493488022135339,
-0.00137672908303878, 0.000518683157694955},
{3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344,
0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05,
-6.07871064300252e-05, 1.91822310311955e-05},
{-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427,
-0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439,
0.000551249824375055, 0.00062236627391337}};
float sus11coeffAlpha[9][10] = {
{-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707,
-0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528,
0.000166230212359982, 0.00103455037278067},
{-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314,
0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439,
1.89380065823205e-05, 1.83481122973969e-07},
{-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062,
0.227153492753605, 0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792,
-0.00247865821192621, -0.00166333309739387},
{-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732,
0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05,
0.000127251739461239, 3.26943341606363e-05},
{-2.20391533717674, 1.32902400478083, 0.38633027011889, 0.00104660852197061,
0.00105228824412283, -0.00242067551428214, -6.98346290136652e-05, -0.000369075232184835,
-1.59510520000704e-05, -0.000448565104826966},
{-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109,
-0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05,
0.000146570207542509, 0.000201596912834554},
{-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635,
0.047897938410221, -0.0355687158405231, 0.000374738707508583, -0.000448453494537518,
0.000377784972619365, -0.000276573228333836},
{-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855,
-0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05,
7.75581514100296e-05, -9.25934285039627e-06},
{183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303,
0.314006821405967, 0.200264755034566, -0.0011895153717447, -0.00253812476819896,
-0.00291324393641628, -0.00140062522117514}};
float sus11coeffBeta[9][10] = {
{34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433,
0.0562461093661426, 0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05,
0.00102633196865105, 0.000552974013759876},
{7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871,
0.00163731860604376, -0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05,
-4.27874746147066e-05, -8.77418673597557e-05},
{130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681,
-0.188837138116058, 0.346177462085361, -0.000183276946352264, -0.000702183496893294,
0.00293145272693857, -0.00318194442670715},
{-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05,
-0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06,
-0.000156596507890443, -0.000123254220377897},
{3.67569209537767, -0.387260959713287, 1.31343215605952, -0.00206444615206506,
0.00145334813110285, -0.00151259497696238, 0.000449492568365603, 6.95883968949488e-07,
0.000368585523744765, -6.3420715525635e-05},
{14.3296323024886, -0.182979476956897, 0.306817119309235, -0.00022212115978293,
0.00463485302909649, 0.0277574953550035, 1.1422454625565e-05, 1.06053257479502e-05,
-2.05720000720608e-05, -0.000338584671430337},
{-18.7534921817754, 1.14272710923224, 0.460498062012866, -0.00995826989278202,
0.0658502318647112, 0.00616942819937029, -7.70857153768402e-05, -0.000641755741925561,
0.00047849204592989, 0.000158509018296766},
{1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305,
-0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05,
-6.74778593434431e-05, -2.81973589469059e-05},
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.000889232196185857, -0.00168429567131815}};
float filterAlpha;
float sunThresh;
} susHandlingParameters;
struct GyrHandlingParameters {
double gyr0orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
// var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
// assumed to be equal for the same class of sensors
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
enum PreferAdis { NO = 0, YES = 1 };
uint8_t preferAdis = PreferAdis::YES;
} gyrHandlingParameters;
struct RwHandlingParameters {
double rw0orientationMatrix[3][3];
double rw1orientationMatrix[3][3];
double rw2orientationMatrix[3][3];
double rw3orientationMatrix[3][3];
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
} rwHandlingParameters;
struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
{0.2136, -0.3317, 1.0123},
{-0.8672, -0.1406, 0.1778},
{0.6426, 0.4794, 1.3603}};
double without0[4][3];
double without1[4][3];
double without2[4][3];
double without3[4][3];
double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
} rwMatrices;
struct SafeModeControllerParameters {
double k_rate_mekf = 0.00059437;
double k_align_mekf = 0.000056875;
double k_rate_no_mekf;
double k_align_no_mekf;
double sunMagAngleMin;
double sunTargetDir[3] = {1, 0, 0}; // Body frame
double satRateRef[3]; // Body frame
} safeModeControllerParameters;
struct DetumbleCtrlParameters {
double gainD = pow(10.0, -3.3);
} detumbleCtrlParameters;
// ToDo: mutiple structs for different pointing mode controllers?
struct PointingModeControllerParameters {
double updtFlag;
double A_rw[3][12];
double refDirection[3] = {1, 0, 0};
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180;
double zeta = 0.3;
double zetaLow;
double om = 0.3;
double omLow;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
bool desatOn = true;
double omegaEarth = 0.000072921158553;
} inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
struct StrParameters {
double exclusionAngle = 20 * M_PI / 180;
// double strOrientationMatrix[3][3];
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // in body/geometry frame
} strParameters;
struct GpsParameters {
} gpsParameters;
struct GroundStationParameters {
double latitudeGs = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeGs = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeGs = 500; // [m] Altitude
double earthRadiusEquat = 6378137; // [m]
double earthRadiusPolar = 6356752.314; // [m]
} groundStationParameters; // Stuttgart
struct SunModelParameters {
enum UseSunModel { NO = 0, YES = 3 };
uint8_t useSunModel;
float domega = 36000.771;
float omega_0 = 282.94 * M_PI / 180.; // RAAN plus argument of perigee
float m_0 = 357.5256; // coefficients for mean anomaly
float dm = 35999.049; // coefficients for mean anomaly
float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
float e1 = 0.74508 * M_PI / 180.;
float p1 = 6892. / 3600. * M_PI / 180.; // some parameter
float p2 = 72. / 3600. * M_PI / 180.; // some parameter
} sunModelParameters;
struct KalmanFilterParameters {
uint8_t activateKalmanFilter;
uint8_t requestResetFlag;
double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
double processNoiseOmega[3];
double processNoiseQuaternion[4];
double sensorNoiseSTR = 0.1 * M_PI / 180;
double sensorNoiseSS = 8 * M_PI / 180;
double sensorNoiseMAG = 4 * M_PI / 180;
double sensorNoiseRMU[3];
double sensorNoiseArwRmu; // Angular Random Walk
double sensorNoiseBsRMU; // Bias Stability
} kalmanFilterParameters;
struct MagnetorquesParameter {
double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double DipolMax = 0.2; // [Am^2]
} magnetorquesParameter;
struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180;
double gainD = pow(10.0, -3.3);
} detumbleParameter;
};
#endif /* ACSPARAMETERS_H_ */

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/*
* ActuatorCmd.cpp
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#include "ActuatorCmd.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 <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
ActuatorCmd::~ActuatorCmd() {}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
using namespace Math;
// Scaling the commanded torque to a maximum value
double torque[4] = {0, 0, 0, 0};
double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
double maxValue = 0;
for (int i = 0; i < 4; i++) { // size of torque, always 4 ?
if (abs(torque[i]) > maxValue) {
maxValue = abs(torque[i]);
}
}
if (maxValue > maxTrq) {
double scalingFactor = maxTrq / maxValue;
VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
}
// Calculating the commanded speed in RPM for every reaction wheel
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double deltaSpeed[4] = {0, 0, 0, 0};
double commandTime = acsParameters.onBoardParams.sampleTime,
inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
// Convert to Unit frame
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentUnits, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
for (int i = 0; i < 3; i++) {
if (abs(dipolMomentUnits[i]) > maxDipol) {
maxValue = abs(dipolMomentUnits[i]);
}
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
}
}

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/*
* ActuatorCmd.h
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
class ActuatorCmd {
public:
ActuatorCmd(AcsParameters *acsParameters_); // Input mode ?
virtual ~ActuatorCmd();
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
double *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentUnits resulting dipol moment for every unit
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
protected:
private:
AcsParameters acsParameters;
};
#endif /* ACTUATORCMD_H_ */

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target_sources(
${LIB_EIVE_MISSION}
PRIVATE AcsParameters.cpp
ActuatorCmd.cpp
Guidance.cpp
Igrf13Model.cpp
MultiplicativeKalmanFilter.cpp
Navigation.cpp
SensorProcessing.cpp
SensorValues.cpp
SusConverter.cpp)
add_subdirectory(control)

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/*
* Guidance.cpp
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#include "Guidance.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include "string.h"
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
Guidance::~Guidance() {}
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
for (int i = 0; i < 3; i++) {
sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
}
// memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
}
void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to groundstation
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
acsParameters.groundStationParameters.longitudeGs,
acsParameters.groundStationParameters.altitudeGs,
groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
sensorValues->gpsSet.longitude.value,
sensorValues->gpsSet.altitude.value, posSatE);
// Target direction in the ECEF frame
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmEJ(now, *dcmEJ);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
// Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
// TEST SECTION !
// double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
// dcmTEST, dcmTEST, 3, 3, 3);
MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Transformation between ECEF and Body frame
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::toDcm(quatBJ, dcmBJ);
MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
// Target Direction in the body frame
double targetDirB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
// rotation quaternion from two vectors
double refDir[3] = {0, 0, 0};
refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
refDir[2] = acsParameters.targetModeControllerParameters.refDirection[2];
double noramlizedTargetDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
VectorOperations<double>::normalize(refDir, refDir, 3);
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
double normRefDir = VectorOperations<double>::norm(refDir, 3);
double crossDir[3] = {0, 0, 0};
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
targetQuat[0] = crossDir[0];
targetQuat[1] = crossDir[1];
targetQuat[2] = crossDir[2];
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double velSatE[3] = {0, 0, 0};
velSatE[0] = 0.0; // sensorValues->gps0Velocity[0];
velSatE[1] = 0.0; // sensorValues->gps0Velocity[1];
velSatE[2] = 0.0; // sensorValues->gps0Velocity[2];
double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
// Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*dcmBJ, *dcmJEDot, *dcmBEDot, 3, 3, 3);
MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
double normRefSatRate = normVelSatB / normTargetDirB;
double satRateDir[3] = {0, 0, 0};
VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, refSatRate, 3);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate in case of star tracker blinding
//-------------------------------------------------------------------------------------
if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
double sunDirJ[3] = {0, 0, 0};
double sunDirB[3] = {0, 0, 0};
if (susDataProcessed->sunIjkModel.isValid()) {
std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
} else {
std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
}
double exclAngle = acsParameters.strParameters.exclusionAngle,
blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
blindEnd = acsParameters.targetModeControllerParameters.blindAvoidStop;
double sightAngleSun =
VectorOperations<double>::dot(acsParameters.strParameters.boresightAxis, sunDirB);
if (!(strBlindAvoidFlag)) {
double critSightAngle = blindStart * exclAngle;
if (sightAngleSun < critSightAngle) {
strBlindAvoidFlag = true;
}
}
else {
if (sightAngleSun < blindEnd * exclAngle) {
double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
double blindRefRate[3] = {0, 0, 0};
if (sunDirB[1] < 0) {
blindRefRate[0] = normBlindRefRate;
blindRefRate[1] = 0;
blindRefRate[2] = 0;
} else {
blindRefRate[0] = -normBlindRefRate;
blindRefRate[1] = 0;
blindRefRate[2] = 0;
}
VectorOperations<double>::add(blindRefRate, refSatRate, refSatRate, 3);
} else {
strBlindAvoidFlag = false;
}
}
}
}
void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
double quatRef[4] = {0, 0, 0, 0};
quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
double satRate[3] = {0, 0, 0};
std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
// valid checks ?
double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
{-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
{quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
{quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
if (quatErrorComplete[3] < 0) {
quatErrorComplete[3] *= -1;
}
quatError[0] = quatErrorComplete[0];
quatError[1] = quatErrorComplete[1];
quatError[2] = quatErrorComplete[2];
// target flag in matlab, importance, does look like it only gives
// feedback if pointing control is under 150 arcsec ??
}
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
}
else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
}
else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one
// reaction wheel the pointing control is destined to fail.
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
}
}

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/*
* Guidance.h
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include <time.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
class Guidance {
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
// Function to get the target quaternion and refence rotation rate from gps position and position
// of the ground station
void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private:
AcsParameters acsParameters;
bool strBlindAvoidFlag = false;
};
#endif /* ACS_GUIDANCE_H_ */

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/*
* Igrf13Model.cpp
*
* Created on: 10 Mar 2022
* Author: Robin Marquardt
*/
#include "Igrf13Model.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 <math.h>
#include <stdint.h>
#include <string.h>
#include "util/MathOperations.h"
Igrf13Model::Igrf13Model() {}
Igrf13Model::~Igrf13Model() {}
void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
const double altitude, timeval timeOfMagMeasurement,
double* magFieldModelInertial) {
double phi = longitude, theta = gcLatitude; // geocentric
/* Here is the co-latitude needed*/
theta -= 90 * Math::PI / 180;
theta *= (-1);
double rE = 6371200.0; // radius earth [m]
/* Predefine recursive associated Legendre polynomials */
double P11 = 1;
double P10 = P11; // P10 = P(n-1,m-0)
double dP11 = 0; // derivative
double dP10 = dP11; // derivative
double P2 = 0, dP2 = 0, P20 = 0, dP20 = 0, K = 0;
for (int m = 0; m <= igrfOrder; m++) {
for (int n = 1; n <= igrfOrder; n++) {
if (m <= n) {
/* Calculation of Legendre Polynoms (normalised) */
if (n == m) {
P2 = sin(theta) * P11;
dP2 = sin(theta) * dP11 - cos(theta) * P11;
P11 = P2;
P10 = P11;
P20 = 0;
dP11 = dP2;
dP10 = dP11;
dP20 = 0;
} else if (n == 1) {
P2 = cos(theta) * P10;
dP2 = cos(theta) * dP10 - sin(theta) * P10;
P20 = P10;
P10 = P2;
dP20 = dP10;
dP10 = dP2;
} else {
K = (pow((n - 1), 2) - pow(m, 2)) / ((2 * n - 1) * (2 * n - 3));
P2 = cos(theta) * P10 - K * P20;
dP2 = cos(theta) * dP10 - sin(theta) * P10 - K * dP20;
P20 = P10;
P10 = P2;
dP20 = dP10;
dP10 = dP2;
}
/* gradient of scalar potential towards radius */
magFieldModel[0] +=
pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
/* gradient of scalar potential towards phi */
magFieldModel[1] +=
pow(rE / (altitude + rE), (n + 2)) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
/* gradient of scalar potential towards theta */
magFieldModel[2] +=
pow(rE / (altitude + rE), (n + 2)) *
((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
}
}
}
magFieldModel[1] *= -1;
magFieldModel[2] *= (-1 / sin(theta));
/* Next step: transform into inertial KOS (IJK)*/
// Julean Centuries
double JD2000Floor = 0;
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
JD2000Floor = floor(JD2000);
double JC2000 = JD2000Floor / 36525;
double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
0.000000026 * pow(JC2000, 3); // greenwich sidereal time
gst *= PI / 180; // convert to radians
double sec =
(JD2000 - JD2000Floor) * 86400; // Seconds on this day (Universal time) // FROM GPS ?
double omega0 = 0.00007292115; // mean angular velocity earth [rad/s]
gst += omega0 * sec;
double lst = gst + longitude; // local sidereal time [rad]
magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
double normVecMagFieldInert[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
}
void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
double JD2000Igrf = (2458850.0 - 2451545); // Begin of IGRF-13 (2020-01-01,00:00:00) in JD2000
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
double days = ceil(JD2000 - JD2000Igrf);
for (int i = 0; i <= igrfOrder; i++) {
for (int j = 0; j <= (igrfOrder - 1); j++) {
updatedG[i][j] = coeffG[i][j] + svG[i][j] * (days / 365);
updatedH[i][j] = coeffH[i][j] + svH[i][j] * (days / 365);
}
}
}

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/*
* Igrf13Model.h
*
* Created on: 10 Mar 2022
* Author: Robin Marquardt
* Description: Calculates the magnetic field vector of earth with the IGRF Model.
* Sources: https://www.ngdc.noaa.gov/IAGA/vmod/igrf.html
* https://doi.org/10.1186/s40623-020-01288-x
* J. Davis, Mathematical Modeling of Earth's Magnetic Field, TN, 2004
*
* [Conversion of ENU (geocentric) to IJK: Skript Bahnmechanik für Raumfahrzeuge,
* Prof. Dr.-Ing. Stefanos Fasoulas / Dr.-Ing. Frank Zimmermann]
*
*/
#ifndef IGRF13MODEL_H_
#define IGRF13MODEL_H_
#include <fsfw/parameters/HasParametersIF.h>
#include <stdint.h>
#include <string.h>
#include <time.h>
#include <cmath>
// Output should be transformed to [T] instead of [nT]
// Updating Coefficients has to be implemented yet. Question, updating everyday ?
class Igrf13Model /*:public HasParametersIF*/ {
public:
Igrf13Model();
virtual ~Igrf13Model();
// Main Function
void magFieldComp(const double longitude, const double gcLatitude, const double altitude,
timeval timeOfMagMeasurement, double* magFieldModelInertial);
// Right now the radius for igrf is simply with r0 + altitude calculated. In reality the radius is
// oriented from the satellite to earth COM Difference up to 25 km, which is 5 % of the total
// flight altitude
/* Inputs:
* - longitude: geocentric longitude [rad]
* - latitude: geocentric latitude [rad]
* - altitude: [m]
* - timeOfMagMeasurement: time of actual measurement [s]
*
* Outputs:
* - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
// Coefficient wary over year, could be updated sometimes.
void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
double magFieldModel[3];
private:
const double coeffG[14][13] = {
{-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
{-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
{0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
{0.0, 0.0, 525.7, -309.4, -140.7, -121.5, 56.5, -0.5, -1.5, 1.7, 2.3, 1.3, 0.7},
{0.0, 0.0, 0.0, 48.0, -151.2, -36.2, 15.8, -21.1, -1.1, -0.9, -0.9, -1.2, -0.3},
{0.0, 0.0, 0.0, 0.0, 13.5, 13.5, 6.4, 15.3, -13.2, 0.7, 0.3, 0.7, 0.8},
{0.0, 0.0, 0.0, 0.0, 0.0, -64.7, -7.2, 13.7, 1.1, -0.9, -0.7, 0.3, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.8, -16.5, 8.8, 1.9, -0.1, 0.5, 0.8},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -9.3, 1.4, 1.4, -0.3, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -11.9, -2.4, -0.6, -0.5, 0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -3.8, 0.2, 0.1, 0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1, -1.1, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}}; // [m][n] in nT
const double coeffH[14][13] = {
{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},
{4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
{0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
{0.0, 0.0, -543.4, 199.7, -121.2, 52.8, 2.2, 12.8, 9.8, 3.6, -0.6, 1.4, 1.4},
{0.0, 0.0, 0.0, -349.7, 32.3, -64.5, 23.5, -11.7, -5.1, 4.8, -0.4, -1.8, -0.4},
{0.0, 0.0, 0.0, 0.0, 98.9, 8.9, -2.2, 14.9, -6.3, -8.6, 0.6, 0.1, -1.3},
{0.0, 0.0, 0.0, 0.0, 0.0, 68.1, -27.2, 3.6, 7.8, -0.1, -0.2, 0.8, -0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.8, -6.9, 0.4, -4.3, -1.7, -0.2, 0.3},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8, -1.4, -3.4, -1.6, 0.6, -0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.6, -0.1, -3.0, 0.2, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -8.8, -2.0, -0.9, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.6, 0.0, -0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}}; // [m][n] in nT
const double svG[14][13] = {
{5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, -12.0, 5.2, 0.2, 1.3, 0.7, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, -5.1, 1.3, -1.4, 0.1, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.9, 0.0, -0.5, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.9, -0.8, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4, 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},
{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, 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, 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}}; // [m][n] in nT
const double svH[14][13] = {
{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},
{-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.5, 3.6, -0.6, -1.3, -0.8, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, -5.0, 3.0, 0.8, -0.2, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.3, 0.0, -1.1, -0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.1, -0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.5, 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},
{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, 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
double updatedG[14][13];
double updatedH[14][13];
static const int igrfOrder = 13; // degree of truncation
};
#endif /* IGRF13MODEL_H_ */

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/*
* 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_
#include <stdint.h> //uint8_t
#include <time.h> /*purpose, timeval ?*/
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "config/classIds.h"
class MultiplicativeKalmanFilter {
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
virtual ~MultiplicativeKalmanFilter();
void reset(); // NOT YET DEFINED - should only reset all mekf variables
/* @brief: init() - This function initializes the Kalman Filter and will provide the first
* quaternion through the QUEST algorithm
* @param: magneticField_ magnetic field vector in the body frame
* sunDir_ sun direction vector in the body frame
* sunDirJ sun direction vector in the ECI frame
* magFieldJ magnetic field vector in the ECI frame
*/
void init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
const bool validSS, const double *sunDirJ, const bool validSSModel,
const double *magFieldJ, const bool validMagModel);
/* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
* for the current step after the initalization
* @param: quaternionSTR Star Tracker Quaternion between from body to ECI frame
* rateGYRs_ Estimated satellite rotation rate from the
* Gyroscopes [rad/s] magneticField_ magnetic field vector in the body frame sunDir_
* sun direction vector in the body frame sunDirJ sun direction vector in the ECI
* frame magFieldJ magnetic field vector in the ECI frame
* outputQuat Stores the calculated quaternion
* outputSatRate Stores the adjusted satellite rate
* @return ReturnValue_t Feedback of this class, KALMAN_NO_GYR_MEAS if no satellite rate from
* the sensors was provided, KALMAN_NO_MODEL if no sunDirJ or magFieldJ was given from the model
* calculations, KALMAN_INVERSION_FAILED if the calculation of the Gain matrix was not possible,
* RETURN_OK else
*/
ReturnValue_t mekfEst(const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
const bool validGYRs_, const double *magneticField_,
const bool validMagField_, const double *sunDir_, const bool validSS,
const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
const bool validMagModel, acsctrl::MekfData *mekfData);
// Declaration of Events (like init) and memberships
// static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
// (/config/returnvalues/classIDs.h) static const Event RESET =
// MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
// resetting Mekf
static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
private:
/*Parameters*/
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
double quaternion_STR_SB[4];
bool validInit;
double sampleTime = 0.1;
/*States*/
double initialQuaternion[4]; /*after reset?QUEST*/
double initialCovarianceMatrix[6][6]; /*after reset?QUEST*/
double propagatedQuaternion[4]; /*Filter Quaternion for next step*/
bool validMekf;
uint8_t sensorsAvail;
/*Outputs*/
double quatBJ[4]; /* Output Quaternion */
double biasGYR[3]; /*Between measured and estimated sat Rate*/
/*Parameter INIT*/
// double alpha, gamma, beta;
/*Functions*/
void loadAcsParameters(AcsParameters *acsParameters_);
};
#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

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/*
* Navigation.cpp
*
* Created on: 23 May 2022
* Author: Robin Marquardt
*/
#include "Navigation.h"
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
acsParameters = *acsParameters_;
}
Navigation::~Navigation() {}
void Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
ReturnValue_t *mekfValid) {
double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatJBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
if (kalmanInit) {
*mekfValid = multiplicativeKalmanFilter.mekfEst(
quatJB, quatJBValid, 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(),
mekfData); // VALIDS FOR QUAT AND RATE ??
} else {
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());
kalmanInit = true;
*mekfValid = returnvalue::OK;
// Maybe we need feedback from kalmanfilter to identify if there was a problem with the
// init of kalman filter where does this class know from that kalman filter was not
// initialized ?
}
}

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/*
* Navigation.h
*
* Created on: 19 Apr 2022
* Author: Robin Marquardt
*/
#ifndef NAVIGATION_H_
#define NAVIGATION_H_
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
class Navigation {
public:
Navigation(AcsParameters *acsParameters_); // Input mode ?
virtual ~Navigation();
void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
ReturnValue_t *mekfValid);
void processSensorData();
protected:
private:
MultiplicativeKalmanFilter multiplicativeKalmanFilter;
AcsParameters acsParameters;
bool kalmanInit = false;
};
#endif /* ACS_NAVIGATION_H_ */

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#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(AcsParameters *acsParameters_)
: savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
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) {
if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
mgmDataProcessed->setValidity(false, true);
}
}
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 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 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 sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
if (mgm0valid) {
VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
mgm0ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
mgm0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm1valid) {
VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
mgm1ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
mgm1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm2valid) {
VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
mgm2ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
mgm2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm3valid) {
VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
mgm3ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
mgm3ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm4valid) {
float mgm4ValueNT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3); // uT to nT
VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
mgm4ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
mgm4ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm4ValueBody[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];
}
//-----------------------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) {
for (uint8_t i = 0; i < 3; i++) {
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
savedMgmVecTot[i] = mgmVecTot[i];
}
}
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
// ---------------- IGRF- 13 Implementation here ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
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);
}
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm0vec.setValid(mgm0valid);
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm1vec.setValid(mgm1valid);
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm2vec.setValid(mgm2valid);
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm3vec.setValid(mgm3valid);
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 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) {
if (sus0valid) {
sus0valid = susConverter.checkSunSensorData(sus0Value);
}
if (sus1valid) {
sus1valid = susConverter.checkSunSensorData(sus1Value);
}
if (sus2valid) {
sus2valid = susConverter.checkSunSensorData(sus2Value);
}
if (sus3valid) {
sus3valid = susConverter.checkSunSensorData(sus3Value);
}
if (sus4valid) {
sus4valid = susConverter.checkSunSensorData(sus4Value);
}
if (sus5valid) {
sus5valid = susConverter.checkSunSensorData(sus5Value);
}
if (sus6valid) {
sus6valid = susConverter.checkSunSensorData(sus6Value);
}
if (sus7valid) {
sus7valid = susConverter.checkSunSensorData(sus7Value);
}
if (sus8valid) {
sus8valid = susConverter.checkSunSensorData(sus8Value);
}
if (sus9valid) {
sus9valid = susConverter.checkSunSensorData(sus9Value);
}
if (sus10valid) {
sus10valid = susConverter.checkSunSensorData(sus10Value);
}
if (sus11valid) {
sus11valid = susConverter.checkSunSensorData(sus11Value);
}
if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
!sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
susDataProcessed->setValidity(false, true);
}
}
return;
}
// WARNING: NOT TRANSFORMED IN BODY FRAME YET
// Transformation into Geomtry Frame
float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
if (sus0valid) {
MatrixOperations<float>::multiply(
susParameters->sus0orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
susParameters->sus0coeffBeta),
sus0VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
susDataProcessed->sus0vec.setValid(sus0valid);
if (!sus0valid) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus1valid) {
MatrixOperations<float>::multiply(
susParameters->sus1orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
susParameters->sus1coeffBeta),
sus1VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
susDataProcessed->sus1vec.setValid(sus1valid);
if (!sus1valid) {
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus2valid) {
MatrixOperations<float>::multiply(
susParameters->sus2orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
susParameters->sus2coeffBeta),
sus2VecBody, 3, 3, 1);
}
if (sus3valid) {
MatrixOperations<float>::multiply(
susParameters->sus3orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
susParameters->sus3coeffBeta),
sus3VecBody, 3, 3, 1);
}
if (sus4valid) {
MatrixOperations<float>::multiply(
susParameters->sus4orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
susParameters->sus4coeffBeta),
sus4VecBody, 3, 3, 1);
}
if (sus5valid) {
MatrixOperations<float>::multiply(
susParameters->sus5orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
susParameters->sus5coeffBeta),
sus5VecBody, 3, 3, 1);
}
if (sus6valid) {
MatrixOperations<float>::multiply(
susParameters->sus6orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
susParameters->sus6coeffBeta),
sus6VecBody, 3, 3, 1);
}
if (sus7valid) {
MatrixOperations<float>::multiply(
susParameters->sus7orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
susParameters->sus7coeffBeta),
sus7VecBody, 3, 3, 1);
}
if (sus8valid) {
MatrixOperations<float>::multiply(
susParameters->sus8orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
susParameters->sus8coeffBeta),
sus8VecBody, 3, 3, 1);
}
if (sus9valid) {
MatrixOperations<float>::multiply(
susParameters->sus9orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
susParameters->sus9coeffBeta),
sus9VecBody, 3, 3, 1);
}
if (sus10valid) {
MatrixOperations<float>::multiply(
susParameters->sus10orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
susParameters->sus10coeffBeta),
sus10VecBody, 3, 3, 1);
}
if (sus11valid) {
MatrixOperations<float>::multiply(
susParameters->sus11orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
susParameters->sus11coeffBeta),
sus11VecBody, 3, 3, 1);
}
/* ------ Mean Value: susDirEst ------ */
bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
{sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
{sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
double susMeanValue[3] = {0, 0, 0};
for (uint8_t i = 0; i < 12; i++) {
if (validIds[i]) {
susMeanValue[0] += susVecBody[0][i];
susMeanValue[1] += susVecBody[1][i];
susMeanValue[2] += susVecBody[2][i];
}
}
double susVecTot[3] = {0.0, 0.0, 0.0};
VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
/* -------- 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) {
for (uint8_t i = 0; i < 3; i++) {
susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
savedSusVecTot[i] = susVecTot[i];
}
}
timeOfSavedSusDirEst = timeOfSusMeasurement;
/* -------- Sun Model Direction (IJK frame) ------- */
// if (useSunModel) eventuell
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);
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
susDataProcessed->sus0vec.setValid(sus0valid);
std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
susDataProcessed->sus1vec.setValid(sus1valid);
std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
susDataProcessed->sus2vec.setValid(sus2valid);
std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
susDataProcessed->sus3vec.setValid(sus3valid);
std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
susDataProcessed->sus4vec.setValid(sus4valid);
std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
susDataProcessed->sus5vec.setValid(sus5valid);
std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
susDataProcessed->sus6vec.setValid(sus6valid);
std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
susDataProcessed->sus7vec.setValid(sus7valid);
std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
susDataProcessed->sus8vec.setValid(sus8valid);
std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
susDataProcessed->sus9vec.setValid(sus9valid);
std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
susDataProcessed->sus10vec.setValid(sus10valid);
std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 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, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 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) {
const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
gyr0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
}
}
if (gyr1valid) {
const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
gyr1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
}
}
if (gyr2valid) {
const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
gyr2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
}
}
if (gyr3valid) {
const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
gyr3ValueBody, 3, 3, 1);
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 == gyrParameters->PreferAdis::YES) {
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];
}
}
{
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 gps0latitude, const double gps0longitude,
const bool validGps,
acsctrl::GpsDataProcessed *gpsDataProcessed) {
// name to convert not process
double gdLongitude, gcLatitude;
if (validGps) {
// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
gdLongitude = gps0longitude * PI / 180;
double latitudeRad = gps0latitude * PI / 180;
double eccentricityWgs84 = 0.0818195;
double factor = 1 - pow(eccentricityWgs84, 2);
gcLatitude = atan(factor * tan(latitudeRad));
// validGcLatitude = true;
}
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->gdLongitude.value = gdLongitude;
gpsDataProcessed->gcLatitude.value = gcLatitude;
gpsDataProcessed->setValidity(validGps, validGps);
if (!validGps) {
gpsDataProcessed->gdLongitude.value = 0.0;
gpsDataProcessed->gcLatitude.value = 0.0;
}
}
}
}
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.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
sensorValues->gpsSet.altitude.isValid()),
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);
}

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/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef SENSORPROCESSING_H_
#define SENSORPROCESSING_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <stdint.h> //uint8_t
#include <time.h> /*purpose, timeval ?*/
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
#include "SusConverter.h"
#include "config/classIds.h"
class SensorProcessing {
public:
void reset();
SensorProcessing(AcsParameters *acsParameters_);
virtual ~SensorProcessing();
void process(timeval now, ACS::SensorValues *sensorValues,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters); // Will call protected functions
private:
protected:
// short description needed for every function
void 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);
void 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);
void 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);
void processStr();
void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
acsctrl::GpsDataProcessed *gpsDataProcessed);
double savedMgmVecTot[3];
timeval timeOfSavedMagFieldEst;
double savedSusVecTot[3];
timeval timeOfSavedSusDirEst;
bool validMagField;
bool validGcLatitude;
const float zeroVector[3] = {0.0, 0.0, 0.0};
SusConverter susConverter;
AcsParameters acsParameters;
};
#endif /*SENSORPROCESSING_H_*/

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/*
* SensorValues.cpp
*
* Created on: 30 Mar 2022
* Author: rooob
*/
#include "SensorValues.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <stddef.h>
#include <cmath>
namespace ACS {
SensorValues::SensorValues() {}
SensorValues::~SensorValues() {}
ReturnValue_t SensorValues::updateMgm() {
ReturnValue_t result;
PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
pgMgm3.getReadResult() || pgImtq.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateSus() {
ReturnValue_t result;
PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
pgGyr3(&gyr3L3gSet);
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
pgGyr3.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult();
return result;
}
ReturnValue_t SensorValues::updateGps() {
ReturnValue_t result;
PoolReadGuard pgGps(&gpsSet);
result = pgGps.getReadResult();
return result;
}
ReturnValue_t SensorValues::updateRw() {
ReturnValue_t result;
PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
pgRw4.getReadResult());
return result;
}
ReturnValue_t SensorValues::update() {
ReturnValue_t mgmUpdate = updateMgm();
ReturnValue_t susUpdate = updateSus();
ReturnValue_t gyrUpdate = updateGyr();
ReturnValue_t strUpdate = updateStr();
ReturnValue_t gpsUpdate = updateGps();
ReturnValue_t rwUpdate = updateRw();
if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate && gpsUpdate && rwUpdate) ==
returnvalue::FAILED) {
return returnvalue::FAILED;
};
return returnvalue::OK;
}
} // namespace ACS

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#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
namespace ACS {
class SensorValues {
public:
SensorValues();
virtual ~SensorValues();
ReturnValue_t update();
ReturnValue_t updateMgm();
ReturnValue_t updateSus();
ReturnValue_t updateGyr();
ReturnValue_t updateGps();
ReturnValue_t updateStr();
ReturnValue_t updateRw();
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
AdisGyroPrimaryDataset gyr0AdisSet = AdisGyroPrimaryDataset(objects::GYRO_0_ADIS_HANDLER);
GyroPrimaryDataset gyr1L3gSet = GyroPrimaryDataset(objects::GYRO_1_L3G_HANDLER);
AdisGyroPrimaryDataset gyr2AdisSet = AdisGyroPrimaryDataset(objects::GYRO_2_ADIS_HANDLER);
GyroPrimaryDataset gyr3L3gSet = GyroPrimaryDataset(objects::GYRO_3_L3G_HANDLER);
startracker::SolutionSet strSet = startracker::SolutionSet(objects::STAR_TRACKER);
GpsPrimaryDataset gpsSet = GpsPrimaryDataset(objects::GPS_CONTROLLER);
// bool mgt0valid;
RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
};
} /* namespace ACS */
#endif /*ENSORVALUES_H_*/

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/*
* 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 <iostream>
bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
susChannel[0] > susChannel[GNDREF]) {
return false;
}
if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
susChannel[1] > susChannel[GNDREF]) {
return false;
};
if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
susChannel[2] > susChannel[GNDREF]) {
return false;
};
if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
susChannel[3] > susChannel[GNDREF]) {
return false;
};
susChannelValueSum =
4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
if ((susChannelValueSum < susChannelValueSumHigh) &&
(susChannelValueSum > susChannelValueSumLow)) {
return false;
};
return true;
}
void SusConverter::calcAngle(const uint16_t susChannel[6]) {
float xout, yout;
float s = 0.03; // s=[mm] gap between diodes
uint8_t d = 5; // d=[mm] edge length of the quadratic aperture
uint8_t h = 1; // h=[mm] distance between diodes and aperture
int ch0, ch1, ch2, ch3;
// Substract measurement values from GNDREF zero current threshold
ch0 = susChannel[GNDREF] - susChannel[0];
ch1 = susChannel[GNDREF] - susChannel[1];
ch2 = susChannel[GNDREF] - susChannel[2];
ch3 = susChannel[GNDREF] - susChannel[3];
// Calculation of x and y
xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
// Calculation of the angles
alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI); //[°]
alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI); //[°]
}
void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
uint8_t index;
float k, l;
// while loop iterates above all calibration cells to use the different calibration functions in
// each cell
k = 0;
while (k < 3) {
k++;
l = 0;
while (l < 3) {
l++;
// if-condition to check in which cell the data point has to be
if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3)) - halfCellWidth) &&
alphaBetaRaw[0] < ((completeCellWidth * (k / 3)) - halfCellWidth)) &&
(alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3)) - halfCellWidth) &&
alphaBetaRaw[1] < ((completeCellWidth * (l / 3)) - halfCellWidth))) {
index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
alphaBetaCalibrated[0] =
coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
coeffAlpha[index][2] * alphaBetaRaw[1] +
coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
alphaBetaCalibrated[1] =
coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
coeffBeta[index][2] * alphaBetaRaw[1] +
coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
}
}
}
}
float* SusConverter::calculateSunVector() {
// Calculate the normalized Sun Vector
sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
(sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
(sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
sunVectorSensorFrame[2] =
-(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
return sunVectorSensorFrame;
}
float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
const float coeffAlpha[9][10],
const float coeffBeta[9][10]) {
calcAngle(susChannel);
calibration(coeffAlpha, coeffBeta);
return calculateSunVector();
}

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/*
* SusConverter.h
*
* Created on: Sep 22, 2022
* Author: marius
*/
#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <stdint.h>
#include "AcsParameters.h"
class SusConverter {
public:
SusConverter() {}
bool checkSunSensorData(const uint16_t susChannel[6]);
void calcAngle(const uint16_t susChannel[6]);
void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
float* calculateSunVector();
float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
const float coeffBeta[9][10]);
private:
float alphaBetaRaw[2]; //[°]
// float coeffAlpha[9][10];
// float coeffBeta[9][10];
float alphaBetaCalibrated[2]; //[°]
float sunVectorSensorFrame[3]; //[-]
bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
static const uint8_t GNDREF = 4;
uint16_t susChannelValueCheckHigh =
4096; //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
uint8_t susChannelValueCheckLow =
0; //[Bit]low borderline for the channel values of one sun sensor for validity Check
uint16_t susChannelValueSumHigh =
100; // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
// the reflection of sunlight from the moon/earth
uint8_t susChannelValueSumLow =
0; //[Bit]low borderline for check if the sun sensor is illuminated
// by the sun or by the reflection of sunlight from the moon/earth
uint8_t completeCellWidth = 140,
halfCellWidth = 70; //[°] Width of the calibration cells --> necessary for checking in
// which cell a data point should be
uint16_t susChannelValueSum = 0;
AcsParameters acsParameters;
};
#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */

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#ifndef ACS_CONFIG_CLASSIDS_H_
#define ACS_CONFIG_CLASSIDS_H_
#include <common/config/eive/resultClassIds.h>
#include <fsfw/returnvalues/FwClassIds.h>
namespace CLASS_ID {
enum eiveclassIds : uint8_t {
EIVE_CLASS_ID_START = COMMON_CLASS_ID_END,
KALMAN,
SAFE,
PTG,
DETUMBLE,
EIVE_CLASS_ID_END // [EXPORT] : [END]
};
}
#endif /* ACS_CONFIG_CLASSIDS_H_ */

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target_sources(${LIB_EIVE_MISSION} PRIVATE Detumble.cpp PtgCtrl.cpp
SafeCtrl.cpp)

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/*
* Detumble.cpp
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#include "Detumble.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/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
Detumble::~Detumble() {}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
const double *magField, const bool magFieldValid, double *magMom) {
if (!magRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
double gain = detumbleCtrlParameters->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
return returnvalue::OK;
}
ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
double *magMom) {
if (!magRateValid) {
return DETUMBLE_NO_SENSORDATA;
}
double dipolMax = magnetorquesParameter->DipolMax;
for (int i = 0; i < 3; i++) {
magMom[i] = -dipolMax * sign(magRate[i]);
}
return returnvalue::OK;
}

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/*
* Detumble.h
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACS_CONTROL_DETUMBLE_H_
#define ACS_CONTROL_DETUMBLE_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class Detumble {
public:
Detumble(AcsParameters *acsParameters_);
virtual ~Detumble();
static const uint8_t INTERFACE_ID = CLASS_ID::DETUMBLE;
static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
ReturnValue_t bDotLaw(const double *magRate, const bool magRateValid, const double *magField,
const bool magFieldValid, double *magMom);
ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
private:
AcsParameters::DetumbleCtrlParameters *detumbleCtrlParameters;
AcsParameters::MagnetorquesParameter *magnetorquesParameter;
};
#endif /*ACS_CONTROL_DETUMBLE_H_*/

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/*
* PtgCtrl.cpp
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*/
#include "PtgCtrl.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/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
PtgCtrl::~PtgCtrl() {}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices = &(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------
double om = pointingModeControllerParameters->om;
double zeta = pointingModeControllerParameters->zeta;
double qErrorMin = pointingModeControllerParameters->qiMin;
double omMax = pointingModeControllerParameters->omMax;
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
double qErrorLaw[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
if (abs(qError[i]) < qErrorMin) {
qErrorLaw[i] = qErrorMin;
} else {
qErrorLaw[i] = abs(qError[i]);
}
}
double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
double gain1 = cInt * omMax / qErrorLawNorm;
double gainVector[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(qErrorLaw, gain1, gainVector, 3);
double gainMatrixDiagonal[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double gainMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixDiagonal[0][0] = gainVector[0];
gainMatrixDiagonal[1][1] = gainVector[1];
gainMatrixDiagonal[2][2] = gainVector[2];
MatrixOperations<double>::multiply(*gainMatrixDiagonal, *(inertiaEIVE->inertiaMatrix),
*gainMatrix, 3, 3, 3);
// Inverse of gainMatrix
double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixInverse[0][0] = 1 / gainMatrix[0][0];
gainMatrixInverse[1][1] = 1 / gainMatrix[1][1];
gainMatrixInverse[2][2] = 1 / gainMatrix[2][2];
double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*gainMatrixInverse, *(inertiaEIVE->inertiaMatrix), *pMatrix, 3,
3, 3);
MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);
//------------------------------------------------------------------------------------------------
// Torque Calculations for the reaction wheels
//------------------------------------------------------------------------------------------------
double pError[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*pMatrix, qError, pError, 3, 3, 1);
double pErrorSign[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
if (abs(pError[i]) > 1) {
pErrorSign[i] = sign(pError[i]);
} else {
pErrorSign[i] = pError[i];
}
}
// Torque for quaternion error
double torqueQuat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
// Torque for rate error
double torqueRate[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), deltaRate, torqueRate, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
// Final commanded Torque for every reaction wheel
double torque[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
mgtDpDes[0] = 0;
mgtDpDes[1] = 0;
mgtDpDes[2] = 0;
return;
}
// calculating momentum of satellite and momentum of reaction wheels
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(speedRws, rwHandlingParameters->inertiaWheel, momentumRwU, 4);
MatrixOperations<double>::multiply(*(rwMatrices->alignmentMatrix), momentumRwU, momentumRw, 3, 4,
1);
double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), satRate, momentumSat, 3, 3, 1);
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error
double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(
momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
// resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
// Conversion to [rad/s] for further calculations
VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
double diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
wheelMomentum, 4);
double gainNs = pointingModeControllerParameters->gainNullspace;
double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
*nullSpaceMatrix, 4);
MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}

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/*
* PtgCtrl.h
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class PtgCtrl {
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
private:
AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */

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/*
* SafeCtrl.cpp
*
* Created on: 19 Apr 2022
* Author: Robin Marquardt
*/
#include "SafeCtrl.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 <math.h>
#include "../util/MathOperations.h"
SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) {
loadAcsParameters(acsParameters_);
MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3,
3);
}
SafeCtrl::~SafeCtrl() {}
void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
}
ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
double *magFieldModel, bool magFieldModelValid,
double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
bool rateMekfValid, double *sunDirRef, double *satRatRef,
double *outputAngle, double *outputMagMomB, bool *outputValid) {
if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
*outputValid = false;
return SAFECTRL_MEKF_INPUT_INVALID;
}
double kRate = 0, kAlign = 0;
kRate = safeModeControllerParameters->k_rate_mekf;
kAlign = safeModeControllerParameters->k_align_mekf;
// Calc sunDirB ,magFieldB with mekf output and model
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
double crossSun[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
// calc angle alpha between sunDirRef and sunDIr
double alpha = 0, dotSun = 0;
dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
alpha = acos(dotSun);
// Law Torque calculations
double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
torqueAll[3] = {0, 0, 0};
double scalarFac = 0;
scalarFac = kAlign * alpha / normCrossSun;
VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
double rateSafeMode[3] = {0, 0, 0};
VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
// Adding factor of inertia for axes
MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
// MagMom B (orthogonal torque)
double torqueMgt[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
double normMag = VectorOperations<double>::norm(magFieldB, 3);
VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
*outputAngle = alpha;
*outputValid = true;
return returnvalue::OK;
}
// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB,
bool *outputValid) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
*outputValid = false;
return;
}
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir
double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
// Rate parallel to sun direction and magnetic field direction
double rateParaSun = 0, rateParaMag = 0;
double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
rateFactor = 1 - pow(cosAngleSunMag, 2);
rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
// Full rate or estimate
double estSatRate[3] = {0, 0, 0};
double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
/* Only valid if angle between sun direction and magnetic field direction
is sufficiently large */
double sinAngle = 0;
sinAngle = sin(acos(cos(cosAngleSunMag)));
if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
return;
}
// Rate for Torque Calculation
double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
// Torque Align calculation
double kRateNoMekf = 0, kAlignNoMekf = 0;
kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
double crossSusSunRef[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef);
double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3);
double torqueAlign[3] = {0, 0, 0};
double angleAlignErr = acos(cosAngleAlignErr);
double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr;
VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3);
// Torque Rate Calculations
double torqueRate[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3);
// Final torque
double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3,
1);
// Magnetic moment
double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
*outputAngle = angleAlignErr;
*outputValid = true;
}

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/*
* safeCtrl.h
*
* Created on: 19 Apr 2022
* Author: rooob
*/
#ifndef SAFECTRL_H_
#define SAFECTRL_H_
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class SafeCtrl {
public:
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
void loadAcsParameters(AcsParameters *acsParameters_);
ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel,
bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
double *satRateMekf, bool rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputAngle, double *outputMagMomB, bool *outputValid);
void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB, bool *outputValid);
void idleSunPointing(); // with reaction wheels
protected:
private:
AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
double gainMatrixInertia[3][3];
double magFieldBState[3];
timeval magFieldBStateTime;
};
#endif /* ACS_CONTROL_SAFECTRL_H_ */

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/*
* TinyEKF: Extended Kalman Filter for embedded processors
*
* Copyright (C) 2015 Simon D. Levy
*
* MIT License
*/
#ifndef CHOLESKYDECOMPOSITION_H_
#define CHOLESKYDECOMPOSITION_H_
#include <math.h>
// typedef unsigned int uint8_t;
template <typename T1, typename T2 = T1, typename T3 = T2>
class CholeskyDecomposition {
public:
static int invertCholesky(T1 *matrix, T2 *result, T3 *tempMatrix, const uint8_t dimension) {
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
return cholsl(matrix, result, tempMatrix, dimension);
}
private:
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t choldc1(double *a, double *p, uint8_t n) {
int8_t i, j, k;
double sum;
for (i = 0; i < n; i++) {
for (j = i; j < n; j++) {
sum = a[i * n + j];
for (k = i - 1; k >= 0; k--) {
sum -= a[i * n + k] * a[j * n + k];
}
if (i == j) {
if (sum <= 0) {
return 1; /* error */
}
p[i] = sqrt(sum);
} else {
a[j * n + i] = sum / p[i];
}
}
}
return 0; /* success */
}
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t choldcsl(double *A, double *a, double *p, uint8_t n) {
uint8_t i, j, k;
double sum;
for (i = 0; i < n; i++)
for (j = 0; j < n; j++) a[i * n + j] = A[i * n + j];
if (choldc1(a, p, n)) return 1;
for (i = 0; i < n; i++) {
a[i * n + i] = 1 / p[i];
for (j = i + 1; j < n; j++) {
sum = 0;
for (k = i; k < j; k++) {
sum -= a[j * n + k] * a[k * n + i];
}
a[j * n + i] = sum / p[j];
}
}
return 0; /* success */
}
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t cholsl(double *A, double *a, double *p, uint8_t n) {
uint8_t i, j, k;
if (choldcsl(A, a, p, n)) return 1;
for (i = 0; i < n; i++) {
for (j = i + 1; j < n; j++) {
a[i * n + j] = 0.0;
}
}
for (i = 0; i < n; i++) {
a[i * n + i] *= a[i * n + i];
for (k = i + 1; k < n; k++) {
a[i * n + i] += a[k * n + i] * a[k * n + i];
}
for (j = i + 1; j < n; j++) {
for (k = j; k < n; k++) {
a[i * n + j] += a[k * n + i] * a[k * n + j];
}
}
}
for (i = 0; i < n; i++) {
for (j = 0; j < i; j++) {
a[i * n + j] = a[j * n + i];
}
}
return 0; /* success */
}
};
#endif /* CONTRIB_MATH_CHOLESKYDECOMPOSITION_H_ */

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#ifndef MATH_MATHOPERATIONS_H_
#define MATH_MATHOPERATIONS_H_
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <math.h>
#include <stdint.h>
#include <string.h>
#include <sys/time.h>
#include <iostream>
using namespace Math;
template <typename T1, typename T2 = T1>
class MathOperations {
public:
static void skewMatrix(const T1 vector[], T2 *result) {
// Input Dimension [3], Output [3][3]
result[0] = 0;
result[1] = -vector[2];
result[2] = vector[1];
result[3] = vector[2];
result[4] = 0;
result[5] = -vector[0];
result[6] = -vector[1];
result[7] = vector[0];
result[8] = 0;
}
static void vecTransposeVecMatrix(const T1 vector1[], const T1 transposeVector2[], T2 *result,
uint8_t size = 3) {
// Looks like MatrixOpertions::multiply is able to do the same thing
for (uint8_t resultColumn = 0; resultColumn < size; resultColumn++) {
for (uint8_t resultRow = 0; resultRow < size; resultRow++) {
result[resultColumn + size * resultRow] =
vector1[resultRow] * transposeVector2[resultColumn];
}
}
/*matrixSun[i][j] = sunEstB[i] * sunEstB[j];
matrixMag[i][j] = magEstB[i] * magEstB[j];
matrixSunMag[i][j] = sunEstB[i] * magEstB[j];
matrixMagSun[i][j] = magEstB[i] * sunEstB[j];*/
}
static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
int min_idx;
T1 temp;
memcpy(result, matrix, rowSize * colSize * sizeof(*result));
// One by one move boundary of unsorted subarray
for (int k = 0; k < rowSize; k++) {
for (int i = 0; i < colSize - 1; i++) {
// Find the minimum element in unsorted array
min_idx = i;
for (int j = i + 1; j < colSize; j++) {
if (result[j + k * colSize] < result[min_idx + k * colSize]) {
min_idx = j;
}
}
// Swap the found minimum element with the first element
temp = result[i + k * colSize];
result[i + k * colSize] = result[min_idx + k * colSize];
result[min_idx + k * colSize] = temp;
}
}
}
static void convertDateToJD2000(const T1 time, T2 julianDate) {
// time = { Y, M, D, h, m,s}
// time in sec and microsec -> The Epoch (unixtime)
julianDate = 1721013.5 + 367 * time[0] - floor(7 / 4 * (time[0] + (time[1] + 9) / 12)) +
floor(275 * time[1] / 9) + time[2] +
(60 * time[3] + time[4] + (time(5) / 60)) / 1440;
}
static T1 convertUnixToJD2000(timeval time) {
// time = {{s},{us}}
T1 julianDate2000;
julianDate2000 = (time.tv_sec / 86400.0) + 2440587.5 - 2451545;
return julianDate2000;
}
static void dcmFromQuat(const T1 vector[], T1 *outputDcm) {
// convention q = [qx,qy,qz, qw]
outputDcm[0] = pow(vector[0], 2) - pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
outputDcm[1] = 2 * (vector[0] * vector[1] + vector[2] * vector[3]);
outputDcm[2] = 2 * (vector[0] * vector[2] - vector[1] * vector[3]);
outputDcm[3] = 2 * (vector[1] * vector[0] - vector[2] * vector[3]);
outputDcm[4] = -pow(vector[0], 2) + pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
outputDcm[5] = 2 * (vector[1] * vector[2] + vector[0] * vector[3]);
outputDcm[6] = 2 * (vector[2] * vector[0] + vector[1] * vector[3]);
outputDcm[7] = 2 * (vector[2] * vector[1] - vector[0] * vector[3]);
outputDcm[8] = -pow(vector[0], 2) - pow(vector[1], 2) + pow(vector[2], 2) + pow(vector[3], 2);
}
static void cartesianFromLatLongAlt(const T1 lat, const T1 longi, const T1 alt,
T2 *cartesianOutput) {
double radiusPolar = 6378137;
double radiusEqua = 6356752.314;
double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
cartesianOutput[0] = (auxRadius + alt) * cos(lat) * cos(longi);
cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
}
/* @brief: dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
* @param: time Current time
* outputDcmEJ Transformation matrix from ECI (J) to ECEF (E) [3][3]
* @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
* Landis Markley and John L. Crassidis*/
static void dcmEJ(timeval time, T1 *outputDcmEJ) {
double JD2000Floor = 0;
double JD2000 = convertUnixToJD2000(time);
// Getting Julian Century from Day start : JD (Y,M,D,0,0,0)
JD2000Floor = floor(JD2000);
if ((JD2000 - JD2000Floor) < 0.5) {
JD2000Floor -= 0.5;
} else {
JD2000Floor += 0.5;
}
double JC2000 = JD2000Floor / 36525;
double sec = (JD2000 - JD2000Floor) * 86400;
double gmst = 0; // greenwich mean sidereal time
gmst = 24110.54841 + 8640184.812866 * JC2000 + 0.093104 * pow(JC2000, 2) -
0.0000062 * pow(JC2000, 3) + 1.002737909350795 * sec;
double rest = gmst / 86400;
double FloorRest = floor(rest);
double secOfDay = rest - FloorRest;
secOfDay *= 86400;
gmst = secOfDay / 240 * PI / 180;
outputDcmEJ[0] = cos(gmst);
outputDcmEJ[1] = sin(gmst);
outputDcmEJ[2] = 0;
outputDcmEJ[3] = -sin(gmst);
outputDcmEJ[4] = cos(gmst);
outputDcmEJ[5] = 0;
outputDcmEJ[6] = 0;
outputDcmEJ[7] = 0;
outputDcmEJ[8] = 1;
}
/* @brief: ecfToEciWithNutPre() - calculates the transformation matrix between ECEF and ECI frame
* give also the back the derivative of this matrix
* @param: unixTime Current time in Unix format
* outputDcmEJ Transformation matrix from ECI (J) to ECEF (E) [3][3]
* outputDotDcmEJ Derivative of transformation matrix [3][3]
* @source: Entwicklung einer Simulationsumgebung und robuster Algorithmen für das Lage- und
Orbitkontrollsystem der Kleinsatelliten Flying Laptop und PERSEUS, P.244ff
* Oliver Zeile
*
https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110*/
static void ecfToEciWithNutPre(timeval unixTime, T1 *outputDcmEJ, T1 *outputDotDcmEJ) {
// TT = UTC/Unix + 32.184s (TAI Difference) + 27 (Leap Seconds in UTC since 1972) + 10
//(initial Offset) International Atomic Time (TAI)
double JD2000UTC1 = convertUnixToJD2000(unixTime);
// Julian Date / century from TT
timeval terestrialTime = unixTime;
terestrialTime.tv_sec = unixTime.tv_sec + 32.184 + 37;
double JD2000TT = convertUnixToJD2000(terestrialTime);
double JC2000TT = JD2000TT / 36525;
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth rotation Theta
//-------------------------------------------------------------------------------------
double theta[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// Earth Rotation angle
double era = 0;
era = 2 * PI * (0.779057273264 + 1.00273781191135448 * JD2000UTC1);
// Greenwich Mean Sidereal Time
double gmst2000 = 0.014506 + 4612.15739966 * JC2000TT + 1.39667721 * pow(JC2000TT, 2) -
0.00009344 * pow(JC2000TT, 3) + 0.00001882 * pow(JC2000TT, 4);
double arcsecFactor = 1 * PI / (180 * 3600);
gmst2000 *= arcsecFactor;
gmst2000 += era;
theta[0][0] = cos(gmst2000);
theta[0][1] = sin(gmst2000);
theta[0][2] = 0;
theta[1][0] = -sin(gmst2000);
theta[1][1] = cos(gmst2000);
theta[1][2] = 0;
theta[2][0] = 0;
theta[2][1] = 0;
theta[2][2] = 1;
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth Precession P
//-------------------------------------------------------------------------------------
double precession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double zeta = 2306.2181 * JC2000TT + 0.30188 * pow(JC2000TT, 2) + 0.017998 * pow(JC2000TT, 3);
double theta2 = 2004.3109 * JC2000TT - 0.42665 * pow(JC2000TT, 2) - 0.041833 * pow(JC2000TT, 3);
double ze = zeta + 0.79280 * pow(JC2000TT, 2) + 0.000205 * pow(JC2000TT, 3);
zeta *= arcsecFactor;
theta2 *= arcsecFactor;
ze *= arcsecFactor;
precession[0][0] = -sin(ze) * sin(zeta) + cos(ze) * cos(theta2) * cos(zeta);
precession[1][0] = cos(ze) * sin(zeta) + sin(ze) * cos(theta2) * cos(zeta);
precession[2][0] = sin(theta2) * cos(zeta);
precession[0][1] = -sin(ze) * cos(zeta) - cos(ze) * cos(theta2) * sin(zeta);
precession[1][1] = cos(ze) * cos(zeta) - sin(ze) * cos(theta2) * sin(zeta);
precession[2][1] = -sin(theta2) * sin(zeta);
precession[0][2] = -cos(ze) * sin(theta2);
precession[1][2] = -sin(ze) * sin(theta2);
precession[2][2] = cos(theta2);
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth Nutation size
//-------------------------------------------------------------------------------------
double nutation[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// lunar asc node
double Om = 125 * 3600 + 2 * 60 + 40.28 - (1934 * 3600 + 8 * 60 + 10.539) * JC2000TT +
7.455 * pow(JC2000TT, 2) + 0.008 * pow(JC2000TT, 3);
Om *= arcsecFactor;
// delta psi approx
double dp = -17.2 * arcsecFactor * sin(Om);
// delta eps approx
double de = 9.203 * arcsecFactor * cos(Om);
// % true obliquity of the ecliptic eps p.71 (simplified)
double e = 23.43929111 * PI / 180 - 46.8150 / 3600 * JC2000TT * PI / 180;
;
nutation[0][0] = cos(dp);
nutation[1][0] = cos(e + de) * sin(dp);
nutation[2][0] = sin(e + de) * sin(dp);
nutation[0][1] = -cos(e) * sin(dp);
nutation[1][1] = cos(e) * cos(e + de) * cos(dp) + sin(e) * sin(e + de);
nutation[2][1] = cos(e) * sin(e + de) * cos(dp) - sin(e) * cos(e + de);
nutation[0][2] = -sin(e) * sin(dp);
nutation[1][2] = sin(e) * cos(e + de) * cos(dp) - cos(e) * sin(e + de);
nutation[2][2] = sin(e) * sin(e + de) * cos(dp) + cos(e) * cos(e + de);
//-------------------------------------------------------------------------------------
// Calculation of Derivative of rotation matrix from earth
//-------------------------------------------------------------------------------------
double thetaDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dotMatrix[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = 0.000072921158553;
MatrixOperations<double>::multiply(*dotMatrix, *theta, *thetaDot, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*thetaDot, omegaEarth, *thetaDot, 3, 3);
//-------------------------------------------------------------------------------------
// Calculation of transformation matrix and Derivative of transformation matrix
//-------------------------------------------------------------------------------------
double nutationPrecession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*nutation, *precession, *nutationPrecession, 3, 3, 3);
MatrixOperations<double>::multiply(*nutationPrecession, *theta, outputDcmEJ, 3, 3, 3);
MatrixOperations<double>::multiply(*nutationPrecession, *thetaDot, outputDotDcmEJ, 3, 3, 3);
}
static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
int i, j;
double determinant;
double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
{matrix[3], matrix[4], matrix[5]},
{matrix[6], matrix[7], matrix[8]}};
for (i = 0; i < 3; i++) {
determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
}
// cout<<"\size\ndeterminant: "<<determinant;
// cout<<"\size\nInverse of matrix is: \size";
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -
(mat[(j + 1) % 3][(i + 2) % 3] * mat[(j + 2) % 3][(i + 1) % 3])) /
determinant;
}
}
}
static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
float det = 0;
T1 matrix[size][size], submatrix[size - 1][size - 1];
for (uint8_t row = 0; row < size; row++) {
for (uint8_t col = 0; col < size; col++) {
matrix[row][col] = inputMatrix[row * size + col];
}
}
if (size == 2)
return ((matrix[0][0] * matrix[1][1]) - (matrix[1][0] * matrix[0][1]));
else {
for (uint8_t col = 0; col < size; col++) {
int subRow = 0;
for (uint8_t rowIndex = 1; rowIndex < size; rowIndex++) {
int subCol = 0;
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
if (colIndex == col) continue;
submatrix[subRow][subCol] = matrix[rowIndex][colIndex];
subCol++;
}
subRow++;
}
det += (pow(-1, col) * matrix[0][col] *
MathOperations<T1>::matrixDeterminant(*submatrix, size - 1));
}
}
return det;
}
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
}
T1 matrix[size][size], identity[size][size];
// reformat array to matrix
for (uint8_t row = 0; row < size; row++) {
for (uint8_t col = 0; col < size; col++) {
matrix[row][col] = inputMatrix[row * size + col];
}
}
// init identity matrix
std::memset(identity, 0.0, sizeof(identity));
for (uint8_t diag = 0; diag < size; diag++) {
identity[diag][diag] = 1;
}
// 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;
uint8_t rowIndex = 0;
while ((rowIndex < size) && !swaped) {
if ((matrix[rowIndex][row] != 0.0) && (matrix[row][rowIndex] != 0.0)) {
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
}
swaped = true;
}
rowIndex++;
}
if (!swaped) {
return 1; // matrix not invertible
}
}
}
for (int row = 0; row < size; row++) {
if (matrix[row][row] == 0.0) {
uint8_t rowIndex;
if (row == 0) {
rowIndex = size - 1;
} else {
rowIndex = row - 1;
}
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
}
row--;
if (row < 0) {
return 1; // Matrix is not invertible
}
}
}
// remove non diag elements in matrix (jordan)
for (int row = 0; row < size; row++) {
for (int rowIndex = 0; rowIndex < size; rowIndex++) {
if (row != rowIndex) {
double ratio = matrix[rowIndex][row] / matrix[row][row];
for (int colIndex = 0; colIndex < size; colIndex++) {
matrix[rowIndex][colIndex] -= ratio * matrix[row][colIndex];
identity[rowIndex][colIndex] -= ratio * identity[row][colIndex];
}
}
}
}
// normalize rows in matrix (gauss)
for (int row = 0; row < size; row++) {
for (int col = 0; col < size; col++) {
identity[row][col] = identity[row][col] / matrix[row][row];
}
}
std::memcpy(inverse, identity, sizeof(identity));
return 0; // successful inversion
}
};
#endif /* ACS_MATH_MATHOPERATIONS_H_ */

208
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -8,16 +8,37 @@
namespace acsctrl {
enum SetIds : uint32_t { MGM_SENSOR_DATA, SUS_SENSOR_DATA };
enum SetIds : uint32_t {
MGM_SENSOR_DATA,
MGM_PROCESSED_DATA,
SUS_SENSOR_DATA,
SUS_PROCESSED_DATA,
GYR_SENSOR_DATA,
GYR_PROCESSED_DATA,
GPS_PROCESSED_DATA,
MEKF_DATA,
CTRL_VAL_DATA,
ACTUATOR_CMD_DATA
};
enum PoolIds : lp_id_t {
// MGM Raw
MGM_0_LIS3_UT,
MGM_1_RM3100_UT,
MGM_2_LIS3_UT,
MGM_3_RM3100_UT,
MGM_IMTQ_CAL_NT,
MGM_IMTQ_CAL_ACT_STATUS,
// MGM Processed
MGM_0_VEC,
MGM_1_VEC,
MGM_2_VEC,
MGM_3_VEC,
MGM_4_VEC,
MGM_VEC_TOT,
MGM_VEC_TOT_DERIVATIVE,
MAG_IGRF_MODEL,
// SUS Raw
SUS_0_N_LOC_XFYFZM_PT_XF,
SUS_6_R_LOC_XFYBZM_PT_XF,
@ -35,15 +56,64 @@ enum PoolIds : lp_id_t {
SUS_5_N_LOC_XFYMZB_PT_ZB,
SUS_11_R_LOC_XBYMZB_PT_ZB,
// SUS Processed
SUS_0_VEC,
SUS_1_VEC,
SUS_2_VEC,
SUS_3_VEC,
SUS_4_VEC,
SUS_5_VEC,
SUS_6_VEC,
SUS_7_VEC,
SUS_8_VEC,
SUS_9_VEC,
SUS_10_VEC,
SUS_11_VEC,
SUS_VEC_TOT,
SUS_VEC_TOT_DERIVATIVE,
SUN_IJK_MODEL,
// GYR Raw
GYR_0_ADIS,
GYR_1_L3,
GYR_2_ADIS,
GYR_3_L3,
// GYR Processed
GYR_0_VEC,
GYR_1_VEC,
GYR_2_VEC,
GYR_3_VEC,
GYR_VEC_TOT,
// GPS Processed
GC_LATITUDE,
GD_LONGITUDE,
// MEKF
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
// Ctrl Values
TGT_QUAT,
ERROR_QUAT,
ERROR_ANG,
// Actuator Cmd
RW_TARGET_TORQUE,
RW_TARGET_SPEED,
MTQ_TARGET_DIPOLE,
};
static constexpr uint8_t MGM_SET_ENTRIES = 10;
static constexpr uint8_t SUS_SET_ENTRIES = 12;
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
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 = 2;
static constexpr uint8_t MEKF_SET_ENTRIES = 2;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
/**
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
*/
class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
class MgmDataRaw : public StaticLocalDataSet<MGM_SET_RAW_ENTRIES> {
public:
MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
@ -60,9 +130,133 @@ class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
private:
};
class SusData : public StaticLocalDataSet<SUS_SET_ENTRIES> {
class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
public:
SusData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
MgmDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_PROCESSED_DATA) {}
lp_vec_t<float, 3> mgm0vec = lp_vec_t<float, 3>(sid.objectId, MGM_0_VEC, this);
lp_vec_t<float, 3> mgm1vec = lp_vec_t<float, 3>(sid.objectId, MGM_1_VEC, this);
lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
lp_vec_t<double, 3> mgmVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
private:
};
class SusDataRaw : public StaticLocalDataSet<SUS_SET_RAW_ENTRIES> {
public:
SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
lp_vec_t<uint16_t, 6> sus10 =
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus11 =
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
private:
};
class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
public:
SusDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_PROCESSED_DATA) {}
lp_vec_t<float, 3> sus0vec = lp_vec_t<float, 3>(sid.objectId, SUS_0_VEC, this);
lp_vec_t<float, 3> sus1vec = lp_vec_t<float, 3>(sid.objectId, SUS_1_VEC, this);
lp_vec_t<float, 3> sus2vec = lp_vec_t<float, 3>(sid.objectId, SUS_2_VEC, this);
lp_vec_t<float, 3> sus3vec = lp_vec_t<float, 3>(sid.objectId, SUS_3_VEC, this);
lp_vec_t<float, 3> sus4vec = lp_vec_t<float, 3>(sid.objectId, SUS_4_VEC, this);
lp_vec_t<float, 3> sus5vec = lp_vec_t<float, 3>(sid.objectId, SUS_5_VEC, this);
lp_vec_t<float, 3> sus6vec = lp_vec_t<float, 3>(sid.objectId, SUS_6_VEC, this);
lp_vec_t<float, 3> sus7vec = lp_vec_t<float, 3>(sid.objectId, SUS_7_VEC, this);
lp_vec_t<float, 3> sus8vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
lp_vec_t<double, 3> susVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
private:
};
class GyrDataRaw : public StaticLocalDataSet<GYR_SET_RAW_ENTRIES> {
public:
GyrDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_SENSOR_DATA) {}
lp_vec_t<double, 3> gyr0Adis = lp_vec_t<double, 3>(sid.objectId, GYR_0_ADIS, this);
lp_vec_t<float, 3> gyr1L3 = lp_vec_t<float, 3>(sid.objectId, GYR_1_L3, this);
lp_vec_t<double, 3> gyr2Adis = lp_vec_t<double, 3>(sid.objectId, GYR_2_ADIS, this);
lp_vec_t<float, 3> gyr3L3 = lp_vec_t<float, 3>(sid.objectId, GYR_3_L3, this);
private:
};
class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
public:
GyrDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_PROCESSED_DATA) {}
lp_vec_t<double, 3> gyr0vec = lp_vec_t<double, 3>(sid.objectId, GYR_0_VEC, this);
lp_vec_t<double, 3> gyr1vec = lp_vec_t<double, 3>(sid.objectId, GYR_1_VEC, this);
lp_vec_t<double, 3> gyr2vec = lp_vec_t<double, 3>(sid.objectId, GYR_2_VEC, this);
lp_vec_t<double, 3> gyr3vec = lp_vec_t<double, 3>(sid.objectId, GYR_3_VEC, this);
lp_vec_t<double, 3> gyrVecTot = lp_vec_t<double, 3>(sid.objectId, GYR_VEC_TOT, this);
private:
};
class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
public:
GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
private:
};
class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
public:
MekfData(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);
private:
};
class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
public:
CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
private:
};
class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
public:
ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}
lp_vec_t<double, 4> rwTargetTorque = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_TORQUE, this);
lp_vec_t<int32_t, 4> rwTargetSpeed = lp_vec_t<int32_t, 4>(sid.objectId, RW_TARGET_SPEED, this);
lp_vec_t<int16_t, 3> mtqTargetDipole =
lp_vec_t<int16_t, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
private:
};

1
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -3,6 +3,7 @@
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "eive/eventSubsystemIds.h"
namespace GpsHyperion {

2
unittest/controller/testThermalController.cpp
View File

@ -13,7 +13,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
const object_id_t THERMAL_CONTROLLER_ID = 0x123;
new TemperatureSensorsDummy();
new SusDummy();
//new SusDummy();
// testEnvironment::initialize();