Merge remote-tracking branch 'origin/develop' into acs_update_scheduling

CHANGELOG.md

@@ -24,12 +24,20 @@ change warranting a new major release:
 
 - `AcsController`: Parameter fix in `DetumbleParameter`.
 - Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
 
 ## Changed
 
 - Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
   timing sensitive ACS operations.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
 - ACS Subsystem Sequence Mode IDs updated.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
   TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130

common/config/devices/addresses.h

@@ -9,7 +9,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
   PCDU,
 
   MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,

fsfw

@@ -1 +1 @@
-Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97
+Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17

linux/ObjectFactory.cpp

@@ -79,11 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  gpioId_t gpioId = gpioIds::CS_SUS_0;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_6;
-  }
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@@ -125,11 +121,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setCustomFdir(fdir);
 
-  gpioId = gpioIds::CS_SUS_6;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_0;
-  }
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
                             spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);

mission/controller/AcsController.cpp

@@ -486,9 +486,9 @@ void AcsController::copyMgmData() {
 }
 
 void AcsController::copySusData() {
-  ACS::SensorValues sensorValues;
   {
     PoolReadGuard pg(&sensorValues.susSets[0]);
+
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
                   6 * sizeof(uint16_t));

mission/controller/AcsController.h

@@ -60,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
   void announceMode(bool recursive);
 
   /* ACS Datasets */
+  ACS::SensorValues sensorValues;
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;

mission/controller/acs/ActuatorCmd.cpp

@@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
   VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
-  //	Convert to Unit frame
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+  // Convert to actuator frame
   MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
-  //  Scaling along largest element if dipol exceeds maximum
+                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+  // Scaling along largest element if dipol exceeds maximum
   double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
   double maxValue = 0;
   for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentUnits[i]) > maxDipol) {
-      maxValue = abs(dipolMomentUnits[i]);
+    if (abs(dipolMomentActuator[i]) > maxDipol) {
+      maxValue = abs(dipolMomentActuator[i]);
     }
   }
-
   if (maxValue > maxDipol) {
     double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
   }
+  // scale dipole from 1 Am^2 to 1e^-4 Am^2
+  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
 }

mission/controller/acs/ActuatorCmd.h

@@ -35,9 +35,9 @@ class ActuatorCmd {
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
    *
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
-   * 			dipolMomentUnits	resulting dipol moment for every unit
+   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
 
  protected:
  private:

mission/devices/devicedefinitions/imtqHandlerDefinitions.h

@@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
   // Refresh torque command without changing any of the set dipoles.
   void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
 
-  void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
+  void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
     if (xDipole.value != xDipole_) {
     }
@@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 
-  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
     xDipole_ = xDipole.value;
     yDipole_ = yDipole.value;
     zDipole_ = zDipole.value;

tmtc

@@ -1 +1 @@
-Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7
+Subproject commit 5ed3cec20b609db435bd5663fd3edd5888fbb932