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Merge remote-tracking branch 'origin/main' into sus-vector-fix-new-v3.1.1
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This commit is contained in:
Robin Müller
2023-06-20 18:21:12 +02:00
parent 7a119bab6e 86d22affe2
commit 3ee9a914cc
74 changed files with 2888 additions and 1426 deletions
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61
mission/controller/acs/SensorProcessing.cpp
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@ -30,10 +30,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
// ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
igrf13.schmidtNormalization();
igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this
@ -45,14 +42,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
float zeroVec[3] = {0.0, 0.0, 0.0};
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
mgmDataProcessed->setValidity(false, true);
std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
mgmDataProcessed->magIgrfModel.setValid(gpsValid);
@ -258,22 +254,20 @@ void SensorProcessing::processSus(
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
float zeroVec[3] = {0.0, 0.0, 0.0};
double zeroVecD[3] = {0, 0, 0};
std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVecD, 3 * sizeof(double));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVecD, 3 * sizeof(double));
std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
susDataProcessed->setValidity(false, true);
std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
susDataProcessed->sunIjkModel.setValid(true);
@ -426,12 +420,11 @@ void SensorProcessing::processGyr(
{
PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
double zeroVector[3] = {0.0, 0.0, 0.0};
std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
gyrDataProcessed->setValidity(false, true);
}
}
@ -540,7 +533,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
// Altitude FDIR
if (gpsAltitude > gpsParameters->maximumFdirAltitude ||
gpsAltitude < gpsParameters->maximumFdirAltitude) {
gpsAltitude < gpsParameters->minimumFdirAltitude) {
altitude = gpsParameters->fdirAltitude;
} else {
altitude = gpsAltitude;