eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into acs-ctrl-finite-check
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This commit is contained in:
Marius Eggert 2023-03-14 14:19:30 +01:00
commit 66b38fa294
6 changed files with 10 additions and 4 deletions
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2
CHANGELOG.md
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@ -20,6 +20,7 @@ will consitute of a breaking change warranting a new major release:
- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands. - Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
- Add `PcduHandlerDummy` component. - Add `PcduHandlerDummy` component.
- Added parameter for timeout until `MEKF_INVALID_MODE_VIOLATION` event is triggered.
- Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset - Added NaN and Inf check for the `MEKF`. If these are detected, the `AcsController` will reset
the `MEKF` on its own. the `MEKF` on its own.
@ -30,6 +31,7 @@ will consitute of a breaking change warranting a new major release:
- The Syrlinks task now has a proper name instead of `MAIN_SPI`. - The Syrlinks task now has a proper name instead of `MAIN_SPI`.
- Make whole EIVE system initial transition work for the EM. This was also made possible by - Make whole EIVE system initial transition work for the EM. This was also made possible by
always scheduling most EIVE components instead of tying the scheduling to preprocessor defines. always scheduling most EIVE components instead of tying the scheduling to preprocessor defines.
- Store more TCP und UDP packets.
## Changed ## Changed

4
common/config/eive/definitions.h
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@ -56,8 +56,8 @@ static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100; static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80; static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
static constexpr uint32_t MAX_STORED_CMDS_UDP = 120; static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
static constexpr uint32_t MAX_STORED_CMDS_TCP = 150; static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;
namespace spiSched { namespace spiSched {

2
mission/controller/AcsController.cpp
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@ -274,7 +274,7 @@ void AcsController::performPointingCtrl() {
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) { if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
navigation.resetMekf(&mekfData); navigation.resetMekf(&mekfData);
} }
if (mekfInvalidCounter == 5) { if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty. // Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
} }

2
mission/controller/AcsController.h
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@ -61,7 +61,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t detumbleCounter = 0; uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0; uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false; bool mekfInvalidFlag = false;
uint8_t mekfInvalidCounter = 0; uint16_t mekfInvalidCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0}; int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0}; int16_t cmdDipolMtqs[3] = {0, 0, 0};

3
mission/controller/acs/AcsParameters.cpp
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@ -23,6 +23,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x0: case 0x0:
parameterWrapper->set(onBoardParams.sampleTime); parameterWrapper->set(onBoardParams.sampleTime);
break; break;
case 0x1:
parameterWrapper->set(onBoardParams.mekfViolationTimer);
break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
} }

1
mission/controller/acs/AcsParameters.h
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@ -18,6 +18,7 @@ class AcsParameters : public HasParametersIF {
struct OnBoardParams { struct OnBoardParams {
double sampleTime = 0.4; // [s] double sampleTime = 0.4; // [s]
uint16_t mekfViolationTimer = 750;
} onBoardParams; } onBoardParams;
struct InertiaEIVE { struct InertiaEIVE {