Merge pull request 'tweaks for ACS scheduling' (#395) from tweaks_acs_scheduling into develop

Reviewed-on: #395
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -36,6 +36,8 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
 * Solves [#386](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/386)
 - All `targetQuat` functions in `Guidance` now return the target quaternion (target
   in ECI frame), which is passed on to `CtrlValData`.
+- Moved polling sequence table definitions and source code to `mission/core` folder.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/395
 
 ## Added
 

bsp_q7s/core/scheduling.cpp

@@ -17,10 +17,10 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/core/pollingSeqTables.h"
 #include "mission/core/scheduling.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
-#include "pollingsequence/pollingSequenceFactory.h"
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
@@ -404,7 +404,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #ifdef RELEASE_BUILD
   static constexpr float acsPstPeriod = 0.4;
 #else
-  static constexpr float acsPstPeriod = 0.8;
+  static constexpr float acsPstPeriod = 0.4;
 #endif
   FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
       "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);

bsp_q7s/core/scheduling.h

@@ -1,11 +1,10 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-#include <pollingsequence/pollingSequenceFactory.h>
-
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
+#include "mission/core/pollingSeqTables.h"
 
 using pst::AcsPstCfg;
 

common/config/eive/definitions.h

@@ -62,7 +62,8 @@ static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
 static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
 static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
 static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 50;
-static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 75;
+static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 90;
+static constexpr uint32_t SCHED_BLOCK_RTD = 150;
 static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
 
 // 15 ms for FM
@@ -76,6 +77,7 @@ static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_A
 static constexpr float SCHED_BLOCK_6_PERIOD =
     static_cast<float>(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0;
 static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
+static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_RTD) / 400.0;
 
 }  // namespace acs
 

linux/fsfwconfig/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp
-                                    pollingsequence/pollingSequenceFactory.cpp)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
 
 target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 

mission/controller/acs/Guidance.cpp

@@ -111,8 +111,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
       if (sightAngleSun < critSightAngle) {
         strBlindAvoidFlag = true;
       }
-    }
-    else {
+    } else {
       if (sightAngleSun < blindEnd * exclAngle) {
         double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
         double blindRefRate[3] = {0, 0, 0};

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -1098,7 +1098,7 @@ void MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
 }
 
 void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
-                                                         MekfStatus mekfStatus) {
+                                                          MekfStatus mekfStatus) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -1114,9 +1114,8 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
   }
 }
 
-void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData,
-                                                             MekfStatus mekfStatus, double quat[4],
-                                                             double satRotRate[3]) {
+void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus,
+                                               double quat[4], double satRotRate[3]) {
   {
     PoolReadGuard pg(mekfData);
     if (pg.getReadResult() == returnvalue::OK) {

mission/core/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp scheduling.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE GenericFactory.cpp scheduling.cpp
+                                           pollingSeqTables.cpp)

mission/core/pollingSeqTables.cpp

@@ -1,4 +1,4 @@
-#include "pollingSequenceFactory.h"
+#include "pollingSeqTables.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -659,7 +659,7 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::GET_READ);
   }
 
-  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.5, 0);
+  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::acs::SCHED_BLOCK_RTD_PERIOD, 0);
 
   return returnvalue::OK;
 }