Merge pull request 'Finite check for MEKF' (#465) from acs-ctrl-finite-check into develop
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Reviewed-on: #465
This commit is contained in:
Robin Müller 2023-03-21 11:47:32 +01:00
commit 2be5cdabb0
15 changed files with 69 additions and 18 deletions

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@ -16,6 +16,14 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Added
- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
the `MEKF` on its own once. This way, there will not be an event spam and operators will have
to look into the reason of wrong outputs. To restore the reset ability, an action command has
been added.
## Fixed
- Fixed transition for dual power lane assemblies: When going from dual side submode to single side
@ -69,8 +77,7 @@ eive-tmtc: v2.19.1
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/462
- Add `PcduHandlerDummy` component.
- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
- EIVE system: Add boot mode which is also the initial mode. The fallback mode of the boot mode
will be the SAFE mode. The boot mode can also be used to switch as many devices as possible OFF.
## Fixed
- Pointing control of the `AcsController` was still expecting submodes instead of modes.
@ -96,9 +103,6 @@ eive-tmtc: v2.19.1
commanding is done autonomously by the COM subsystem internally or by the operator. This prevents
the transmitter from going off during fallbacks to the SAFE mode, which might not always be
desired.
## Changed
- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
`PowerSwitchIF::SWITCH_UNKNOWN` in switch state getter if this is the state.
- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 278 translations.
* @details
* Generated on: 2023-03-15 10:10:04
* Generated on: 2023-03-21 12:45:57
*/
#include "translateEvents.h"

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 169 translations.
* Generated on: 2023-03-14 17:08:41
* Generated on: 2023-03-21 12:45:57
*/
#include "translateObjects.h"

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@ -470,8 +470,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
470 0x6a04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
471 0x6a05 ACSMEKF_MekfNoSusMgmStrData No description 5 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
472 0x6a06 ACSMEKF_MekfCovarianceInversionFailed No description 6 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
473 0x6a07 ACSMEKF_MekfInitialized ACSMEKF_MekfNotFinite No description 7 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
474 0x6a08 ACSMEKF_MekfRunning ACSMEKF_MekfInitialized No description 8 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
475 0x6a09 ACSMEKF_MekfRunning No description 9 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
476 0x6b01 ACSSAF_SafectrlMekfInputInvalid No description 1 ACS_SAFE mission/controller/acs/control/SafeCtrl.h
477 0x6c01 ACSPTG_PtgctrlMekfInputInvalid No description 1 ACS_PTG mission/controller/acs/control/PtgCtrl.h
478 0x6d01 ACSDTB_DetumbleNoSensordata No description 1 ACS_DETUMBLE mission/controller/acs/control/Detumble.h

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@ -581,8 +581,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a05;ACSMEKF_MekfNoSusMgmStrData;No description;5;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a06;ACSMEKF_MekfCovarianceInversionFailed;No description;6;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfInitialized;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfRunning;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
581 0x6a04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
582 0x6a05 ACSMEKF_MekfNoSusMgmStrData No description 5 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
583 0x6a06 ACSMEKF_MekfCovarianceInversionFailed No description 6 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
584 0x6a07 ACSMEKF_MekfInitialized ACSMEKF_MekfNotFinite No description 7 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
585 0x6a08 ACSMEKF_MekfRunning ACSMEKF_MekfInitialized No description 8 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
586 0x6a09 ACSMEKF_MekfRunning No description 9 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
587 0x6b01 ACSSAF_SafectrlMekfInputInvalid No description 1 ACS_SAFE mission/controller/acs/control/SafeCtrl.h
588 0x6c01 ACSPTG_PtgctrlMekfInputInvalid No description 1 ACS_PTG mission/controller/acs/control/PtgCtrl.h
589 0x6d01 ACSDTB_DetumbleNoSensordata No description 1 ACS_DETUMBLE mission/controller/acs/control/Detumble.h

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 278 translations.
* @details
* Generated on: 2023-03-15 10:10:04
* Generated on: 2023-03-21 12:45:57
*/
#include "translateEvents.h"

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 173 translations.
* Generated on: 2023-03-14 17:08:41
* Generated on: 2023-03-21 12:45:57
*/
#include "translateObjects.h"

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 278 translations.
* @details
* Generated on: 2023-03-15 10:10:04
* Generated on: 2023-03-21 12:45:57
*/
#include "translateEvents.h"

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 173 translations.
* Generated on: 2023-03-14 17:08:41
* Generated on: 2023-03-21 12:45:57
*/
#include "translateObjects.h"

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@ -55,6 +55,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
navigation.resetMekf(&mekfData);
return HasActionsIF::EXECUTION_FINISHED;
}
case RESTORE_MEKF_NONFINITE_RECOVERY: {
mekfLost = false;
return HasActionsIF::EXECUTION_FINISHED;
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
@ -149,6 +153,10 @@ void AcsController::performSafe() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
mekfLost = true;
}
} else {
mekfInvalidFlag = false;
}
@ -231,6 +239,9 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
} else {
mekfInvalidFlag = false;
}
@ -282,6 +293,9 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);

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@ -64,6 +64,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint16_t mekfInvalidCounter = 0;
bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0;
uint8_t resetMekfCount = 0;
bool mekfLost = false;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};
@ -78,6 +80,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
/** Device command IDs */
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1;
static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);

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@ -1080,6 +1080,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
if (not(MathOperations<double>::checkVectorIsFinite(propagatedQuaternion, 4)) ||
not(MathOperations<double>::checkMatrixIsFinite(initialQuaternion, 6, 6))) {
updateDataSetWithoutData(mekfData, MekfStatus::NOT_FINITE);
return MEKF_NOT_FINITE;
}
updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
return MEKF_RUNNING;
}

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@ -62,6 +62,7 @@ class MultiplicativeKalmanFilter {
NO_MODEL_VECTORS = 2,
NO_SUS_MGM_STR_DATA = 3,
COVARIANCE_INVERSION_FAILED = 4,
NOT_FINITE = 5,
INITIALIZED = 10,
RUNNING = 11,
};
@ -74,8 +75,9 @@ class MultiplicativeKalmanFilter {
static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
returnvalue::makeCode(IF_MEKF_ID, 6);
static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
static constexpr ReturnValue_t MEKF_NOT_FINITE = returnvalue::makeCode(IF_MEKF_ID, 7);
static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 8);
static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9);
private:
/*Parameters*/

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@ -404,6 +404,26 @@ class MathOperations {
std::memcpy(inverse, identity, sizeof(identity));
return 0; // successful inversion
}
static bool checkVectorIsFinite(const T1 *inputVector, uint8_t size) {
for (uint8_t i = 0; i < size; i++) {
if (not isfinite(inputVector[i])) {
return false;
}
}
return true;
}
static bool checkMatrixIsFinite(const T1 *inputMatrix, uint8_t rows, uint8_t cols) {
for (uint8_t col = 0; col < cols; col++) {
for (uint8_t row = 0; row < rows; row++) {
if (not isfinite(inputMatrix[row * cols + cols])) {
return false;
}
}
}
return true;
}
};
#endif /* ACS_MATH_MATHOPERATIONS_H_ */

2
tmtc

@ -1 +1 @@
Subproject commit e5a09e148b45d0380dc6d9a1a88002bab4b0376c
Subproject commit b32a9273ae4186a440685ffde7618f017cfdb268