eive/eive-obsw
eive/eive-obsw
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acs ctrl controller datasets to 30s at or below idle and 10s above idle
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This commit is contained in:
Marius Eggert 2024-06-25 13:29:32 +02:00
parent 30bb5d1ac7
commit 64ec2ffd84
1 changed files with 16 additions and 5 deletions
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21
mission/controller/AcsController.cpp
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@ -815,32 +815,32 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf); localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus); localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest); localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0}); poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
// Ctrl Values // Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat); localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat); localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat); localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng); localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate); localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0}); poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
// Actuator CMD // Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque); localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed); localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole); localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0}); poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
// Fused Rot Rate // Fused Rot Rate
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0}); poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
// Fused Rot Rate Sources // Fused Rot Rate Sources
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0}); poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
return returnvalue::OK; return returnvalue::OK;
} }
@ -926,6 +926,17 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) { if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
detumbleState = DetumbleState::NO_DETUMBLE; detumbleState = DetumbleState::NO_DETUMBLE;
} }
if (mode > acs::AcsMode::PTG_IDLE) {
poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
} else {
poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
}
return ExtendedControllerBase::modeChanged(mode, submode); return ExtendedControllerBase::modeChanged(mode, submode);
} }