added SensorProcessing

mission/controller/acs/SensorProcessing.h

@@ -0,0 +1,89 @@
+/*******************************
+ *	EIVE Flight Software Framework (FSFW)
+ * (c) 2022 IRS, Uni Stuttgart
+ *******************************/
+#ifndef SENSORPROCESSING_H_
+#define SENSORPROCESSING_H_
+
+#include <stdint.h> //uint8_t
+#include <time.h> /*purpose, timeval ?*/
+#include "acs/config/classIds.h"
+#include <fsfw/src/fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "AcsParameters.h"
+#include <acs/SensorValues.h>
+#include <acs/OutputValues.h>
+
+/*Planned:
+ * - Fusion of Sensor Measurements -
+ * sunDirEst (mean value)
+ * magField (mean value)
+ * rmuSatRate (rmus, mean value)
+ * - Models to get inertia values -
+ * sunModelDir (input: time)
+ * magModelField (input: position,time)
+ * - Low Pass Filter maybe -
+ * magField
+ * SunDirEst*/
+
+class SensorProcessing: public HasReturnvaluesIF{
+public:
+
+	void reset();
+
+	SensorProcessing(AcsParameters *acsParameters_);
+	virtual ~SensorProcessing();
+
+	void process(timeval now, ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
+			const AcsParameters *acsParameters); // Will call protected functions
+private:
+
+protected:
+	// short description needed for every function
+	bool 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,
+			const double gpsLatitude, const double gpsLongitude,
+			const double gpsAltitude, bool gpsValid,
+			double *magFieldEst, bool *outputValid,
+			double *magFieldModel, bool*magFieldModelValid,
+			double *magneticFieldVectorDerivative, bool *magneticFieldVectorDerivativeValid); //Output
+
+	void processSus(const float sus0Value[], bool sus0valid, const float sus1Value[], bool sus1valid,
+			const float sus2Value[], bool sus2valid, const float sus3Value[], bool sus3valid,
+			const float sus4Value[], bool sus4valid, const float sus5Value[], bool sus5valid,
+			const float sus6Value[], bool sus6valid, const float sus7Value[], bool sus7valid,
+			const float sus8Value[], bool sus8valid, const float sus9Value[], bool sus9valid,
+			const float sus10Value[], bool sus10valid, const float sus11Value[], bool sus11valid,
+			timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
+			const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst, bool *sunDirEstValid,
+			double *sunVectorModel, bool *sunVectorModelValid,
+			double *sunVectorDerivative, bool *sunVectorDerivativeValid);
+
+	void processRmu(const double rmu0Value[], bool rmu0valid, // processRmu
+			const double rmu1Value[], bool rmu1valid,
+			const double rmu2Value[], bool rmu2valid,
+			timeval timeOfrmuMeasurement, const AcsParameters::RmuHandlingParameters *rmuParameters,
+			double *satRatEst, bool *satRateEstValid);
+
+	void processStr();
+
+	void processGps(const double gps0latitude, const double gps0longitude,
+			const bool validGps, double *gcLatitude, double *gdLongitude);
+
+
+	double savedMagFieldEst[3];
+	timeval timeOfSavedMagFieldEst;
+	double savedSunVector[3];
+	timeval timeOfSavedSusDirEst;
+	bool validMagField;
+	bool validGcLatitude;
+
+
+};
+
+#endif SENSORPROCESSING_H_
+