eive/eive-obsw
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added mekf status to dataset
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This commit is contained in:
Marius Eggert 2023-02-21 16:02:26 +01:00
parent b01b9d3b99
commit 2a9c1aab7f
3 changed files with 4 additions and 0 deletions
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1
mission/controller/AcsController.cpp
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@ -542,6 +542,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);

1
mission/controller/AcsController.h
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@ -175,6 +175,7 @@ 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;

2
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -91,6 +91,7 @@ enum PoolIds : lp_id_t {
// MEKF
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
MEKF_STATUS,
// Ctrl Values
TGT_QUAT,
ERROR_QUAT,
@ -239,6 +240,7 @@ class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
lp_var_t<uint8_t> mekfStatus = lp_var_t<uint8_t>(sid.objectId, MEKF_STATUS, this);
private:
};