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Merge branch 'develop' into eggert/acs-ctrl-action-cmds
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This commit is contained in:
Marius Eggert
2023-02-23 09:31:58 +01:00
parent 8873ecae48 eee3da50f2
commit 29f1dd0f8e
17 changed files with 846 additions and 776 deletions
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19
mission/controller/AcsController.h
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@ -10,6 +10,7 @@
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/MultiplicativeKalmanFilter.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
@ -49,11 +50,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
Detumble detumble;
PtgCtrl ptgCtrl;
uint8_t detumbleCounter;
uint8_t multipleRwUnavailableCounter;
ParameterHelper parameterHelper;
uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = true;
uint8_t mekfInvalidCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
@ -86,6 +91,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
int16_t mtqTargetDipole[3]);
void updateCtrlValData(double errAng);
void updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng);
void disableCtrlValData();
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
@ -176,12 +187,14 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
acsctrl::MekfData mekfData;
PoolEntry<double> quatMekf = PoolEntry<double>(4);
PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>();
PoolEntry<double> tgtRotRate = PoolEntry<double>(4);
// Actuator CMD
acsctrl::ActuatorCmdData actuatorCmdData;