diff --git a/CHANGELOG.md b/CHANGELOG.md index d1086a9f..dfa460bd 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,27 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +# [v7.7.3] 2024-03-18 + +- Bumped `eive-fsfw` + +## Added + +- Added parameter to disable STR input for MEKF. + +## Changed + +- If a primary heater is set to `EXTERNAL CONTROL` and `ON`, the `TCS Controller` will no + try to control the temperature of that object. +- Set lower OP limit of `PLOC` to -5°C. + +## Fixed + +- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the + performance of the controller. +- Heaters set to `EXTERNAL CONTROL` no longer can be switched off by the `TCS Controller`, if + they violate the maximum burn duration of the controller. + # [v7.7.2] 2024-03-06 ## Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 48d0c333..54d804b0 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 7) -set(OBSW_VERSION_REVISION 2) +set(OBSW_VERSION_REVISION 3) # set(CMAKE_VERBOSE TRUE) diff --git a/fsfw b/fsfw index 47b21caf..43ea29cb 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 47b21caf5fa2a27c7ace89f960141b3f24c329ee +Subproject commit 43ea29cb845d4a7d190c87df490eb53c4992618b diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index f9a04c46..d3bbfcd8 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() { mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues, &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData); result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, - &susDataProcessed, timeDelta, &attitudeEstimationData); + &susDataProcessed, timeDelta, &attitudeEstimationData, + acsParameters.kalmanFilterParameters.allowStr); if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp index 2729cec0..c406a5be 100644 --- a/mission/controller/ThermalController.cpp +++ b/mission/controller/ThermalController.cpp @@ -1641,7 +1641,11 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re bool heaterAvailable = true; HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr); + heater::SwitchState mainState = heaterHandler.getSwitchState(switchNr); HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr); + if (mainHealth == HasHealthIF::EXTERNAL_CONTROL and mainState == heater::SwitchState::ON) { + return false; + } if (mainHealth != HasHealthIF::HEALTHY) { if (redHealth == HasHealthIF::HEALTHY) { switchNr = redSwitchNr; @@ -1656,6 +1660,7 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re } else { ctrlCtx.redSwitchNrInUse = false; } + return heaterAvailable; } @@ -1792,7 +1797,8 @@ void ThermalController::heaterMaxDurationControl( for (unsigned i = 0; i < heater::Switch::NUMBER_OF_SWITCHES; i++) { // Right now, we only track the maximum duration for heater which were commanded by the TCS // controller. - if (currentHeaterStates[i] == heater::SwitchState::ON and + if (heaterHandler.getHealth(static_cast(i)) != HasHealthIF::EXTERNAL_CONTROL and + currentHeaterStates[i] == heater::SwitchState::ON and heaterStates[i].trackHeaterMaxBurnTime and heaterStates[i].heaterOnMaxBurnTime.hasTimedOut()) { heaterStates[i].switchTransition = false; diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h index 1062fe97..6b6d9cde 100644 --- a/mission/controller/ThermalController.h +++ b/mission/controller/ThermalController.h @@ -197,9 +197,9 @@ class ThermalController : public ExtendedControllerBase { tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0); tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0); tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0); - tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60); + tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60); tcsCtrl::TempLimits plocProcessingBoardLimits = - tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0); + tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60.0); tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0); tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0); tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0); diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp index f8fb759b..3a7aa726 100644 --- a/mission/controller/acs/AcsParameters.cpp +++ b/mission/controller/acs/AcsParameters.cpp @@ -734,6 +734,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, case 0x5: parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs); break; + case 0x6: + parameterWrapper->set(kalmanFilterParameters.allowStr); + break; default: return INVALID_IDENTIFIER_ID; } diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index 467c0740..965878e7 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -947,6 +947,8 @@ class AcsParameters : public HasParametersIF { double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability + + uint8_t allowStr = false; } kalmanFilterParameters; struct MagnetorquerParameter { diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 4406a224..a6559db3 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4]) return; } + QuaternionOperations::preventSignJump(quatIX, quatIXprev); + // check required rotation and return if below limit double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0}; QuaternionOperations::inverse(quatIXprev, quatXprevI); diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp index 5dce2a84..b66f0531 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp +++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp @@ -626,11 +626,11 @@ void MultiplicativeKalmanFilter::updateDataSet( } } -void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, - bool valid) { +void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, bool valid, + bool allowStr) { strData.strQuat.value[0] = qX; strData.strQuat.value[1] = qY; strData.strQuat.value[2] = qZ; strData.strQuat.value[3] = qW; - strData.strQuat.valid = valid; + strData.strQuat.valid = (valid and allowStr); } diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.h b/mission/controller/acs/MultiplicativeKalmanFilter.h index 6d475912..d26b6dd8 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.h +++ b/mission/controller/acs/MultiplicativeKalmanFilter.h @@ -38,7 +38,7 @@ class MultiplicativeKalmanFilter { void updateStandardDeviations(const AcsParameters *acsParameters); void setStrData(const double qX, const double qY, const double qZ, const double qW, - const bool valid); + const bool valid, const bool allowStr); static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF; static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2); diff --git a/mission/controller/acs/Navigation.cpp b/mission/controller/acs/Navigation.cpp index 038abfdd..113a6ccb 100644 --- a/mission/controller/acs/Navigation.cpp +++ b/mission/controller/acs/Navigation.cpp @@ -9,11 +9,12 @@ ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues, const acsctrl::MgmDataProcessed *mgmDataProcessed, const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta, - acsctrl::AttitudeEstimationData *attitudeEstimationData) { + acsctrl::AttitudeEstimationData *attitudeEstimationData, + const bool allowStr) { multiplicativeKalmanFilter.setStrData( sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value, sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value, - sensorValues->strSet.caliQx.isValid()); + sensorValues->strSet.caliQx.isValid(), allowStr); if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) { mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed, diff --git a/mission/controller/acs/Navigation.h b/mission/controller/acs/Navigation.h index b944073d..230ce79e 100644 --- a/mission/controller/acs/Navigation.h +++ b/mission/controller/acs/Navigation.h @@ -17,7 +17,8 @@ class Navigation { const acsctrl::GyrDataProcessed *gyrDataProcessed, const acsctrl::MgmDataProcessed *mgmDataProcessed, const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta, - acsctrl::AttitudeEstimationData *attitudeEstimationData); + acsctrl::AttitudeEstimationData *attitudeEstimationData, + const bool allowStr); void resetMekf(acsctrl::AttitudeEstimationData *mekfData); ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);