diff --git a/CHANGELOG.md b/CHANGELOG.md index 2a1314c8..be9304ce 100644 --- a/CHANGELOG.md +++ b/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 diff --git a/common/config/devices/addresses.h b/common/config/devices/addresses.h index d7056307..c1e65314 100644 --- a/common/config/devices/addresses.h +++ b/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, diff --git a/fsfw b/fsfw index 3250bbf2..38789e05 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97 +Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17 diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index a147af26..cf27972f 100644 --- a/linux/ObjectFactory.cpp +++ b/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 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); diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index d1039f8f..7544c471 100644 --- a/mission/controller/AcsController.cpp +++ b/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)); diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index bc23fdaf..308700e4 100644 --- a/mission/controller/AcsController.h +++ b/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; diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp index 2a0a9425..771f9d6f 100644 --- a/mission/controller/acs/ActuatorCmd.cpp +++ b/mission/controller/acs/ActuatorCmd.cpp @@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1 VectorOperations::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::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::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3); + VectorOperations::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3); } + // scale dipole from 1 Am^2 to 1e^-4 Am^2 + VectorOperations::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3); } diff --git a/mission/controller/acs/ActuatorCmd.h b/mission/controller/acs/ActuatorCmd.h index 5cb3ff00..181bf175 100644 --- a/mission/controller/acs/ActuatorCmd.h +++ b/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: diff --git a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h b/mission/devices/devicedefinitions/imtqHandlerDefinitions.h index b3598970..2abf1c21 100644 --- a/mission/devices/devicedefinitions/imtqHandlerDefinitions.h +++ b/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; diff --git a/tmtc b/tmtc index c3c58b95..5ed3cec2 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7 +Subproject commit 5ed3cec20b609db435bd5663fd3edd5888fbb932