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Marius Eggert
2023-11-23 16:56:36 +01:00
parent 886dd17e4a
commit 4a67f9ffe5
14 changed files with 234 additions and 132 deletions
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16
mission/controller/AcsController.h
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@ -14,6 +14,7 @@
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/AttitudeEstimation.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
#include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
@ -57,6 +58,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
AttitudeEstimation attitudeEstimation;
FusedRotationEstimation fusedRotationEstimation;
Navigation navigation;
ActuatorCmd actuatorCmd;
@ -218,11 +220,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();
// MEKF
acsctrl::MekfData mekfData;
// Attitude Estimation
acsctrl::AttitudeEstimationData attitudeEstimationData;
PoolEntry<double> quatMekf = PoolEntry<double>(4);
PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
PoolEntry<double> quatQuest = PoolEntry<double>(4);
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
@ -243,6 +246,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
// Fused Rot Rate Sources
acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);
// TLE Dataset
acsctrl::TleData tleData;