eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

added returnvalue handling
Some checks failed
EIVE/eive-obsw/pipeline/head There was a failure building this commit
Details

Browse Source
This commit is contained in:
Marius Eggert 2023-02-23 11:26:43 +01:00
parent 5205c5b78a
commit 5d9ed222f5
5 changed files with 26 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
common/config/eive/resultClassIds.h
View File

@ -35,14 +35,13 @@ enum commonClassIds : uint8_t {
SA_DEPL_HANDLER, // SADPL SA_DEPL_HANDLER, // SADPL
MPSOC_RETURN_VALUES_IF, // MPSOCRTVIF MPSOC_RETURN_VALUES_IF, // MPSOCRTVIF
SUPV_RETURN_VALUES_IF, // SPVRTVIF SUPV_RETURN_VALUES_IF, // SPVRTVIF
ACS_KALMAN, // ACSKAL ACS_CTRL, // ACSCTRL
ACS_MEKF, // ACSMEKF
ACS_SAFE, // ACSSAF ACS_SAFE, // ACSSAF
ACS_PTG, // ACSPTG ACS_PTG, // ACSPTG
ACS_DETUMBLE, // ACSDTB ACS_DETUMBLE, // ACSDTB
ACS_MEKF, // ACSMEK
COMMON_CLASS_ID_END // [EXPORT] : [END] COMMON_CLASS_ID_END // [EXPORT] : [END]
}; };
} }
#endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */ #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

19
mission/controller/AcsController.cpp
View File

@ -49,7 +49,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
const uint8_t *data, size_t size) { const uint8_t *data, size_t size) {
switch (actionId) { switch (actionId) {
case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: { case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
guidance.solarArrayDeploymentComplete(); ReturnValue_t result = guidance.solarArrayDeploymentComplete();
if (result == returnvalue::FAILED) {
return FILE_DELETION_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED; return HasActionsIF::EXECUTION_FINISHED;
} }
case RESET_MEKF: { case RESET_MEKF: {
@ -140,8 +143,8 @@ void AcsController::performSafe() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData); &susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true; mekfInvalidFlag = true;
@ -155,7 +158,7 @@ void AcsController::performSafe() {
// if MEKF is working // if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false; bool magMomMtqValid = false;
if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) { if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(), safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(), mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(), susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@ -205,8 +208,8 @@ void AcsController::performDetumble() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData); &susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true; mekfInvalidFlag = true;
@ -252,8 +255,8 @@ void AcsController::performPointingCtrl() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData); &susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true; mekfInvalidFlag = true;

3
mission/controller/AcsController.h
View File

@ -70,6 +70,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0; static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1; static const DeviceCommandId_t RESET_MEKF = 0x1;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override; ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override; void performControlOperation() override;

18
mission/controller/acs/MultiplicativeKalmanFilter.h
View File

@ -74,15 +74,15 @@ class MultiplicativeKalmanFilter {
}; };
// resetting Mekf // resetting Mekf
static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN; static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2); static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3); static constexpr ReturnValue_t MEKF_NO_GYR_DATA = returnvalue::makeCode(IF_MEKF_ID, 3);
static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4); static constexpr ReturnValue_t MEKF_NO_MODEL_VECTORS = returnvalue::makeCode(IF_MEKF_ID, 4);
static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5); static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED = static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
returnvalue::makeCode(IF_KAL_ID, 6); returnvalue::makeCode(IF_MEKF_ID, 6);
static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7); static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8); static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
private: private:
/*Parameters*/ /*Parameters*/

2
mission/controller/acs/Navigation.cpp
View File

@ -25,7 +25,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
sensorValues->strSet.caliQy.isValid() && sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid(); sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
if (mekfStatus == MultiplicativeKalmanFilter::KALMAN_UNINITIALIZED) { if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init( mekfStatus = multiplicativeKalmanFilter.init(
mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(), mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(), susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),