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changed fdir to new variant
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This commit is contained in:
Marius Eggert 2023-11-15 16:54:54 +01:00
parent 9482f3cae9
commit 4a86d4ba4b
6 changed files with 22 additions and 7 deletions
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6
mission/acs/defs.h
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@ -67,9 +67,9 @@ static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO); static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
//! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values. //! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values.
static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO); static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a //! [EXPORT] : [COMMENT] For a prolonged time, no attitude information was available for the
//! prolonged time. //! Pointing Controller. Falling back to Safe Mode.
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH); static constexpr Event PTG_CTRL_NO_ATTITUDE_INFORMATION = MAKE_EVENT(6, severity::HIGH);
//! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has //! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has
//! failed. //! failed.
//! P1: Missing information about magnetic field, P2: Missing information about rotational rate //! P1: Missing information about magnetic field, P2: Missing information about rotational rate

15
mission/controller/AcsController.cpp
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@ -369,6 +369,21 @@ void AcsController::performDetumble() {
} }
void AcsController::performPointingCtrl() { void AcsController::performPointingCtrl() {
acs::ControlModeStrategy ptgCtrlStrat =
ptgCtrl.pointingCtrlStrategy(magFieldValid, mekfValid, satRotRateValid, sunDirValid,
fusedRateTotalValid, mekfEnabled, gyrEnabled, dampingEnabled);
if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
ptgCtrlLostCounter++;
if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
ptgCtrlLostCounter = 0;
}
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);
}
uint8_t enableAntiStiction = true; uint8_t enableAntiStiction = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);

2
mission/controller/AcsController.h
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@ -72,7 +72,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t detumbleCounter = 0; uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0; uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false; bool mekfInvalidFlag = false;
uint16_t mekfInvalidCounter = 0; uint16_t ptgCtrlLostCounter = 0;
bool safeCtrlFailureFlag = false; bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0; uint8_t safeCtrlFailureCounter = 0;
uint8_t resetMekfCount = 0; uint8_t resetMekfCount = 0;

2
mission/controller/acs/AcsParameters.cpp
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@ -24,7 +24,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(onBoardParams.sampleTime); parameterWrapper->set(onBoardParams.sampleTime);
break; break;
case 0x1: case 0x1:
parameterWrapper->set(onBoardParams.mekfViolationTimer); parameterWrapper->set(onBoardParams.ptgCtrlLostTimer);
break; break;
case 0x2: case 0x2:
parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse); parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);

2
mission/controller/acs/AcsParameters.h
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@ -18,7 +18,7 @@ class AcsParameters : public HasParametersIF {
struct OnBoardParams { struct OnBoardParams {
double sampleTime = 0.4; // [s] double sampleTime = 0.4; // [s]
uint16_t mekfViolationTimer = 750; uint16_t ptgCtrlLostTimer = 750;
uint8_t fusedRateSafeDuringEclipse = true; uint8_t fusedRateSafeDuringEclipse = true;
} onBoardParams; } onBoardParams;

2
mission/system/acs/StrFdir.cpp
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@ -6,7 +6,7 @@ StrFdir::StrFdir(object_id_t strObject)
: DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {} : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
ReturnValue_t StrFdir::eventReceived(EventMessage* event) { ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) { if (event->getEvent() == acs::PTG_CTRL_NO_ATTITUDE_INFORMATION) {
setFaulty(event->getEvent()); setFaulty(event->getEvent());
return returnvalue::OK; return returnvalue::OK;
} }