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Robin Müller 2023-02-03 14:21:36 +01:00
parent 76d18a67bc
commit 4ed1e2411a
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6 changed files with 77 additions and 28 deletions
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7
CHANGELOG.md
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@ -17,6 +17,13 @@ change warranting a new major release:
# [unreleased] # [unreleased]
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
as well. Other modes still need to be tested.
## Fixed
- `AcsController`: Parameter fix in `DetumbleParameter`.
# [v1.23.1] 2023-02-02 # [v1.23.1] 2023-02-02
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3

7
mission/controller/AcsController.cpp
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@ -152,9 +152,8 @@ void AcsController::performSafe() {
detumbleCounter = 0; detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
// TODO: Trigger mode transition in ACS subsystem?
submode = acs::CtrlSubmode::DETUMBLE;
detumbleCounter = 0; detumbleCounter = 0;
// Triggers detubmle mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION); triggerEvent(acs::SAFE_RATE_VIOLATION);
} }
@ -210,9 +209,9 @@ void AcsController::performDetumble() {
detumbleCounter = 0; detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
// TODO: Trigger mode transition in subsystem instead
submode = acs::CtrlSubmode::DETUMBLE;
detumbleCounter = 0; detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
} }
int16_t cmdDipolUnitsInt[3] = {0, 0, 0}; int16_t cmdDipolUnitsInt[3] = {0, 0, 0};

4
mission/controller/acs/AcsParameters.h
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@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {
struct DetumbleParameter { struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180; double omegaDetumbleStart = 2;
double omegaDetumbleEnd = 0.4 * M_PI / 180; double omegaDetumbleEnd = 0.4;
double gainD = pow(10.0, -3.3); double gainD = pow(10.0, -3.3);
} detumbleParameter; } detumbleParameter;
}; };

80
mission/system/tree/acsModeTree.cpp
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@ -10,7 +10,7 @@
#include "mission/acsDefs.h" #include "mission/acsDefs.h"
#include "util.h" #include "util.h"
Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24); AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
namespace { namespace {
// Alias for checker function // Alias for checker function
@ -30,7 +30,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
static const auto OFF = HasModesIF::MODE_OFF; static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL; static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 2>()); auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_OFF_TGT = auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_0 = auto ACS_TABLE_OFF_TRANS_0 =
@ -77,8 +77,6 @@ auto ACS_SEQUENCE_PTG_TARGET_GS =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_GS_TGT = auto ACS_TABLE_PTG_TARGET_GS_TGT =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>()); std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_0 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>()); std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
@ -86,8 +84,6 @@ auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1, auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
FixedArrayList<ModeListEntry, 6>()); FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_0 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair( auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>()); (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
@ -95,13 +91,12 @@ auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>()); std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair( auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>()); (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_0 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair( auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>()); (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::acs::init() { void satsystem::acs::init() {
ModeListEntry entry; ModeListEntry entry;
const char* ctxc = "satsystem::acs::init: generic target";
// Insert Helper Table // Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) { auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
entry.setObject(obj); entry.setObject(obj);
@ -115,6 +110,9 @@ void satsystem::acs::init() {
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
check(ACS_SUBSYSTEM.addTable(
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
ctxc);
buildOffSequence(ACS_SUBSYSTEM, entry); buildOffSequence(ACS_SUBSYSTEM, entry);
buildSafeSequence(ACS_SUBSYSTEM, entry); buildSafeSequence(ACS_SUBSYSTEM, entry);
@ -350,8 +348,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
ctxc); ctxc);
check(ss.addTable(&ACS_TABLE_PTG_TRANS_0.second, ACS_TABLE_PTG_TRANS_0.first, false, true), ctxc); // Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_TRANS_1.second); ACS_TABLE_PTG_TARGET_TRANS_1.second);
@ -400,8 +397,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)), &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
ctxc); ctxc);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc); // Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR, iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second); ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
@ -411,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
check( check(
ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first, ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
@ -441,7 +437,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS, iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second); ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@ -451,8 +447,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)), TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
ctxc); ctxc);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc); // Transition 0 already built
// Build TARGET PT transition 1 // Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS, iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second); ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
@ -462,13 +457,62 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Build IDLE sequence // Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first, check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
&ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)), &ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
ctxc); ctxc);
} }
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper) {} void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
std::string context = "satsystem::acs::buildTargetPtInertialSequence";
auto ctxc = context.c_str();
// Insert Helper Table
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
ArrayList<ModeListEntry>& sequence) {
eh.setObject(obj);
eh.setMode(mode);
eh.setSubmode(submode);
check(sequence.insert(eh), ctxc);
};
// Insert Helper Sequence
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
bool checkSuccess) {
eh.setTableId(tableId);
eh.setWaitSeconds(waitSeconds);
eh.setCheckSuccess(checkSuccess);
check(sequence.insert(eh), ctxc);
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
ctxc);
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
ctxc);
// Build IDLE sequence
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
true);
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
&ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
ACS_SEQUENCE_IDLE.first)),
ctxc);
}
} // namespace } // namespace

5
mission/system/tree/acsModeTree.h
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@ -1,11 +1,10 @@
#include <fsfw/subsystem/modes/ModeDefinitions.h> #include <mission/system/objects/AcsSubsystem.h>
class Subsystem;
namespace satsystem { namespace satsystem {
namespace acs { namespace acs {
extern Subsystem ACS_SUBSYSTEM; extern AcsSubsystem ACS_SUBSYSTEM;
void init(); void init();
} // namespace acs } // namespace acs

2
tmtc

@ -1 +1 @@
Subproject commit a39e94279b0d77b9d21a996d87090d69fd4b3222 Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7