this is much better
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@ -12,113 +12,194 @@ void FusedRotationEstimation::estimateFusedRotationRate(
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acsctrl::FusedRotRateData *fusedRotRateData) {
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estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
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estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
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estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
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fusedRotRateSourcesData);
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// Fused Rotation Estimation of STR
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if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
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acsParameters->onBoardParams.fusedRateFromStr) {
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PoolReadGuard pg(fusedRotRateData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(false);
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateParallel.setValid(false);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
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fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(true);
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}
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} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
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acsParameters->onBoardParams.fusedRateFromQuest) {
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PoolReadGuard pg(fusedRotRateData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(false);
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateParallel.setValid(false);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
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fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(true);
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}
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} else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
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fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(
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fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
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std::memcpy(fusedRotRateData->rotRateParallel.value,
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fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
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fusedRotRateData->rotRateParallel.setValid(
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fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
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fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(true);
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} else {
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PoolReadGuard pg(fusedRotRateData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->setValidity(false, true);
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}
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}
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}
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void FusedRotationEstimation::estimateFusedRotationRateStr(
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ACS::SensorValues *sensorValues, const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
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if ((sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
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sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) {
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double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
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sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
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if (VectorOperations<double>::norm(quatOldStr, 4) != 0 and timeDelta != 0) {
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estimateFusedRotationRateQuat(quatNew, timeDelta, true, fusedRotRateSourcesData);
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} else {
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double quatOldInv[4] = {0, 0, 0, 0};
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double quatDelta[4] = {0, 0, 0, 0};
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QuaternionOperations::inverse(quatOldStr, quatOldInv);
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QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta);
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QuaternionOperations::normalize(quatDelta);
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double rotVec[3] = {0, 0, 0};
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double angle = QuaternionOperations::getAngle(quatDelta);
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if (angle == 0.0) {
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
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}
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}
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}
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VectorOperations<double>::normalize(quatDelta, rotVec, 3);
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VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, rotVec, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
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}
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}
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std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
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return;
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}
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
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}
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}
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std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
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} else {
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std::memcpy(quatOldStr, ZERO_VEC4, sizeof(quatOldStr));
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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return;
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}
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
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}
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}
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std::memcpy(quatOldStr, ZERO_VEC4, sizeof(quatOldStr));
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}
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// Fused Rotation Estimation of QUEST
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if ((attitudeEstimationData->quatQuest.isValid())) {
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void FusedRotationEstimation::estimateFusedRotationRateQuest(
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acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
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if (attitudeEstimationData->quatQuest.isValid()) {
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if (VectorOperations<double>::norm(quatOldQuest, 4) != 0 and timeDelta != 0) {
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estimateFusedRotationRateQuat(attitudeEstimationData->quatQuest.value, timeDelta, true,
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fusedRotRateSourcesData);
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} else {
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double quatOldInv[4] = {0, 0, 0, 0};
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double quatDelta[4] = {0, 0, 0, 0};
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QuaternionOperations::inverse(quatOldQuest, quatOldInv);
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QuaternionOperations::multiply(attitudeEstimationData->quatQuest.value, quatOldInv,
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quatDelta);
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QuaternionOperations::normalize(quatDelta);
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double rotVec[3] = {0, 0, 0};
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double angle = QuaternionOperations::getAngle(quatDelta);
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if (angle == 0.0) {
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
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}
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}
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}
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VectorOperations<double>::normalize(quatDelta, rotVec, 3);
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VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, rotVec, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
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}
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}
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std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
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return;
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}
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
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}
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}
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std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
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} else {
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std::memcpy(quatOldQuest, ZERO_VEC4, sizeof(quatOldQuest));
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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return;
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}
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
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}
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}
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// Fused Rotation Estimation of SUS&MGM
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std::memcpy(quatOldQuest, ZERO_VEC4, sizeof(quatOldQuest));
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}
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void FusedRotationEstimation::estimateFusedRotationRateQuat(
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double *quatNew, const double timeDelta, const bool str,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
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double quatOldInv[4] = {0, 0, 0, 0};
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double quatDelta[4] = {0, 0, 0, 0};
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if (str) {
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QuaternionOperations::inverse(quatOldStr, quatOldInv);
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} else {
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QuaternionOperations::inverse(quatOldQuest, quatOldInv);
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}
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QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta);
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QuaternionOperations::normalize(quatDelta);
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double rotVec[3] = {0, 0, 0};
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double angle = QuaternionOperations::getAngle(quatDelta);
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if (angle == 0.0) {
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (str) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
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} else {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
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}
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}
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}
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VectorOperations<double>::normalize(quatDelta, rotVec, 3);
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VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
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{
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (str) {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, rotVec, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
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} else {
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std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, rotVec, 3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
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}
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}
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}
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void FusedRotationEstimation::estimateFusedRotationRateSafe(
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void FusedRotationEstimation::estimateFusedRotationRateSusMgm(
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acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
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if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
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not fusedRotRateData->rotRateTotal.isValid()) or
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not fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) or
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(not susDataProcessed->susVecTotDerivative.isValid() and
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not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
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{
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PoolReadGuard pg(fusedRotRateData);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->setValidity(false, true);
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
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std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
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std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
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}
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}
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// store for calculation of angular acceleration
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if (gyrDataProcessed->gyrVecTot.isValid()) {
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@ -127,7 +208,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
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return;
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}
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if (not susDataProcessed->susVecTot.isValid()) {
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estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
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estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
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// store for calculation of angular acceleration
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if (gyrDataProcessed->gyrVecTot.isValid()) {
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std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
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@ -151,7 +232,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
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VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
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fusedRotRateParallel, 3);
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} else {
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estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
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estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
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// store for calculation of angular acceleration
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if (gyrDataProcessed->gyrVecTot.isValid()) {
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std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
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@ -173,12 +254,18 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
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VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
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{
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PoolReadGuard pg(fusedRotRateData);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
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3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
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fusedRotRateData->setValidity(true, true);
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, fusedRotRateOrthogonal,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(true);
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std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, fusedRotRateParallel,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(true);
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std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
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}
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}
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// store for calculation of angular acceleration
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@ -188,31 +275,44 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
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}
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void FusedRotationEstimation::estimateFusedRotationRateEclipse(
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acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
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if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
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not gyrDataProcessed->gyrVecTot.isValid() or
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VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
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VectorOperations<double>::norm(fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3) == 0) {
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{
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PoolReadGuard pg(fusedRotRateData);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->setValidity(false, true);
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PoolReadGuard pg(fusedRotRateSourcesData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
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std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
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std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
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3 * sizeof(double));
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fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
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}
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}
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return;
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}
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double angAccelB[3] = {0, 0, 0};
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VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
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double fusedRotRateTotal[3] = {0, 0, 0};
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VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
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3);
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VectorOperations<double>::add(fusedRotRateSourcesData->rotRateTotalSusMgm.value, angAccelB,
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fusedRotRateTotal, 3);
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{
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PoolReadGuard pg(fusedRotRateData);
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateOrthogonal.setValid(false);
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std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
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fusedRotRateData->rotRateParallel.setValid(false);
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std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotal.setValid(true);
|
||||
PoolReadGuard pg(fusedRotRateSourcesData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
|
||||
3 * sizeof(double));
|
||||
fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
|
||||
std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
|
||||
3 * sizeof(double));
|
||||
fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
|
||||
std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
|
||||
3 * sizeof(double));
|
||||
fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -36,7 +36,7 @@ class FusedRotationEstimation {
|
||||
acsctrl::GyrDataProcessed *gyrDataProcessed,
|
||||
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
|
||||
void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
|
||||
acsctrl::FusedRotRateData *fusedRotRateData);
|
||||
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
|
||||
void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData,
|
||||
const double timeDelta,
|
||||
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
|
||||
|
Loading…
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Reference in New Issue
Block a user