diff --git a/CHANGELOG.md b/CHANGELOG.md index cb798dc8..8202cea7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,19 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +# [v7.5.5] 2024-01-22 + +## Fixed + +- Calculation of error quaternion was done with inverse of the required target quaternion. + +# [v7.5.4] 2024-01-16 + +## Fixed + +- Pointing strategy now actually uses fused rotation rate source instead of its valid flag. +- All datasets now get updated during pointing mode, even if the strategy is a fault one. + # [v7.5.3] 2023-12-19 ## Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 2576fbb8..5b8eb93e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13) set(OBSW_VERSION_MAJOR 7) set(OBSW_VERSION_MINOR 5) -set(OBSW_VERSION_REVISION 3) +set(OBSW_VERSION_REVISION 5) # set(CMAKE_VERBOSE TRUE) diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 6adb4a0b..8e7ae8d4 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -403,14 +403,17 @@ void AcsController::performPointingCtrl() { acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy( mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid, attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(), - fusedRotRateData.rotRateSource.isValid(), useMekf); + fusedRotRateData.rotRateSource.value, useMekf); - if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) { + if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or + ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) { ptgCtrlLostCounter++; if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) { triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION); ptgCtrlLostCounter = 0; } + updateCtrlValData(ptgCtrlStrat); + updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16); commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], acsParameters.rwHandlingParameters.rampTime); @@ -437,7 +440,7 @@ void AcsController::performPointingCtrl() { std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB)); break; default: - sif::error << "AcsController: Invalid pointing mode strategy for performDetumble" + sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl" << std::endl; break; } @@ -593,7 +596,7 @@ void AcsController::performPointingCtrl() { actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs); - updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate); + updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate, ptgCtrlStrat); updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs); commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2], acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], @@ -671,7 +674,7 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque, } } -void AcsController::updateCtrlValData(uint8_t safeModeStrat) { +void AcsController::updateCtrlValData(acs::ControlModeStrategy ctrlStrat) { PoolReadGuard pg(&ctrlValData); if (pg.getReadResult() == returnvalue::OK) { std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double)); @@ -682,13 +685,13 @@ void AcsController::updateCtrlValData(uint8_t safeModeStrat) { ctrlValData.errAng.setValid(false); std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double)); ctrlValData.tgtRotRate.setValid(false); - ctrlValData.safeStrat.value = safeModeStrat; + ctrlValData.safeStrat.value = ctrlStrat; ctrlValData.safeStrat.setValid(true); ctrlValData.setValidity(true, false); } } -void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) { +void AcsController::updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat) { PoolReadGuard pg(&ctrlValData); if (pg.getReadResult() == returnvalue::OK) { std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double)); @@ -699,21 +702,22 @@ void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) { ctrlValData.errAng.setValid(true); std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double)); ctrlValData.tgtRotRate.setValid(false); - ctrlValData.safeStrat.value = safeModeStrat; + ctrlValData.safeStrat.value = ctrlStrat; ctrlValData.safeStrat.setValid(true); ctrlValData.setValidity(true, false); } } void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng, - const double *tgtRotRate) { + const double *tgtRotRate, + acs::ControlModeStrategy ctrlStrat) { PoolReadGuard pg(&ctrlValData); if (pg.getReadResult() == returnvalue::OK) { std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double)); std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double)); ctrlValData.errAng.value = errAng; std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double)); - ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF; + ctrlValData.safeStrat.value = ctrlStrat; ctrlValData.setValidity(true, true); } } diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index 2e1fe13e..aa2b9411 100644 --- a/mission/controller/AcsController.h +++ b/mission/controller/AcsController.h @@ -52,6 +52,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes void performPointingCtrl(); private: + static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0}; static constexpr double ZERO_VEC3[3] = {0, 0, 0}; static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0}; static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0}; @@ -143,10 +144,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes void updateActuatorCmdData(const int16_t* mtqTargetDipole); void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed, const int16_t* mtqTargetDipole); - void updateCtrlValData(uint8_t safeModeStrat); - void updateCtrlValData(double errAng, uint8_t safeModeStrat); + void updateCtrlValData(acs::ControlModeStrategy ctrlStrat); + void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat); void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng, - const double* tgtRotRate); + const double* tgtRotRate, acs::ControlModeStrategy cStrat); ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile); ReturnValue_t writeTleToFs(const uint8_t* tle); diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 0be636ad..10d1393c 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -418,7 +418,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], double errorQuat[4], double errorSatRotRate[3], double &errorAngle) { // First calculate error quaternion between current and target orientation - QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); + double invTargetQuat[4] = {0, 0, 0, 0}; + QuaternionOperations::inverse(targetQuat, invTargetQuat); + QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat); // Last calculate add rotation from reference quaternion QuaternionOperations::multiply(refQuat, errorQuat, errorQuat); // Keep scalar part of quaternion positive diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp index eb510c53..fd5b9f29 100644 --- a/mission/controller/acs/control/PtgCtrl.cpp +++ b/mission/controller/acs/control/PtgCtrl.cpp @@ -21,9 +21,8 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy( return acs::ControlModeStrategy::PTGCTRL_STR; } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { return acs::ControlModeStrategy::PTGCTRL_QUEST; - } else { - return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,