eive/eive-obsw
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this mekf should work
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This commit is contained in:
Marius Eggert
2024-02-27 16:05:05 +01:00
parent f382bd3e61
commit 352053f1d2
6 changed files with 757 additions and 1214 deletions
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10
mission/controller/AcsController.cpp
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@ -6,6 +6,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMoun
sdcMan(sdcMan),
attitudeEstimation(&acsParameters),
fusedRotationEstimation(&acsParameters),
navigation(&acsParameters),
guidance(&acsParameters),
safeCtrl(&acsParameters),
ptgCtrl(&acsParameters),
@ -63,7 +64,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
}
case UPDATE_TLE: {
if (size != 69 * 2) {
return INVALID_PARAMETERS;
return HasActionsIF::INVALID_PARAMETERS;
}
ReturnValue_t result = updateTle(data, data + 69, false);
if (result != returnvalue::OK) {
@ -84,8 +85,11 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
}
std::memcpy(tle + 69, line2, 69);
actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
return EXECUTION_FINISHED;
return HasActionsIF::EXECUTION_FINISHED;
}
case (UPDATE_STANDARD_DEVIATIONS):
navigation.updateMekfStandardDeviations(&acsParameters);
return HasActionsIF::EXECUTION_FINISHED;
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
@ -176,7 +180,7 @@ void AcsController::performAttitudeControl() {
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &attitudeEstimationData, &acsParameters);
&susDataProcessed, timeDelta, &attitudeEstimationData);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {