added and implemented all ACS related DataPools to AcsController
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@ -8,6 +8,7 @@
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#include "acs/ActuatorCmd.h"
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#include "acs/Guidance.h"
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#include "acs/Navigation.h"
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#include "acs/OutputValues.h"
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#include "acs/SensorProcessing.h"
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#include "acs/control/Detumble.h"
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#include "acs/control/PtgCtrl.h"
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@ -64,62 +65,91 @@ class AcsController : public ExtendedControllerBase {
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void modeChanged(Mode_t mode, Submode_t submode);
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void announceMode(bool recursive);
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/* ACS Datasets */
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// MGMs
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acsctrl::MgmDataRaw mgmData;
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MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
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MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
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RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
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RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
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MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
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MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
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RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
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RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
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IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
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PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
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PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
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PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
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acsctrl::MgmDataRaw mgmDataRaw;
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PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
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PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
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PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
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void copyMgmData();
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// Sun Sensors
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acsctrl::SusDataRaw susData;
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std::array<SUS::SusDataset, 12> susSets{
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SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
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SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
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SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
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SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
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SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
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SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
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SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
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SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
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SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
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SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
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SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
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SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
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};
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PoolEntry<uint16_t> sus0PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus1PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus2PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus3PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus4PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus5PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus6PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus7PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus8PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus9PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus10PoolVec = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus11PoolVec = PoolEntry<uint16_t>(6);
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acsctrl::MgmDataProcessed mgmDataProcessed;
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PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgmVecTot = PoolEntry<float>(3);
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PoolEntry<float> mgmVecTotDer = PoolEntry<float>(3);
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PoolEntry<double> magIgrf = PoolEntry<double>(3);
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// SUSs
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acsctrl::SusDataRaw susDataRaw;
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PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
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void copySusData();
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acsctrl::SusDataProcessed susDataProcessed;
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PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
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PoolEntry<float> susVecTot = PoolEntry<float>(3);
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PoolEntry<float> susVecTotDer = PoolEntry<float>(3);
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PoolEntry<float> sunIjk = PoolEntry<float>(3);
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// GYRs
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acsctrl::GyrDataRaw gyrDataRaw;
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PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
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PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
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PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
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PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
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void copyGyrData();
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acsctrl::GyrDataProcessed gyrDataProcessed;
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PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
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// GPS
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acsctrl::GpsDataProcessed gpsDataProcessed;
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PoolEntry<double> gcLatitude = PoolEntry<double>();
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PoolEntry<double> gdLongitude = PoolEntry<double>();
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// MEKF
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acsctrl::MekfData mekfData;
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PoolEntry<double> quatMekf = PoolEntry<double>(4);
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PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
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// Actuator CMD
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acsctrl::ActuatorCmdData actuatorCmdData;
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PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
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PoolEntry<double> rwTargetSpeed = PoolEntry<double>(4);
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PoolEntry<double> mtqTargetDipole = PoolEntry<double>(3);
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(INIT_DELAY);
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};
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