From 66e2d782b21505450954bcd07326bdf4722c7d85 Mon Sep 17 00:00:00 2001 From: Marius Eggert Date: Thu, 12 Jan 2023 11:47:56 +0100 Subject: [PATCH] domainId now points to structs. sunVectorSafeLeop added --- mission/controller/acs/AcsParameters.cpp | 51 ++++++++++++------------ mission/controller/acs/AcsParameters.h | 2 + 2 files changed, 27 insertions(+), 26 deletions(-) diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp index 2479eb53..332f1873 100644 --- a/mission/controller/acs/AcsParameters.cpp +++ b/mission/controller/acs/AcsParameters.cpp @@ -11,16 +11,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues, uint16_t startAtIndex) { - // if (domainId == parameterModuleId) { - switch (parameterId >> 8) { + switch (domainId) { case 0x0: // direct members - switch (parameterId & 0xFF) { + switch (parameterId) { default: return INVALID_IDENTIFIER_ID; } break; case 0x1: // OnBoardParams - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(onBoardParams.sampleTime); break; @@ -29,7 +28,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case 0x2: // InertiaEIVE - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(inertiaEIVE.inertiaMatrix); break; @@ -50,7 +49,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case 0x3: // MgmHandlingParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix); break; @@ -110,7 +109,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case 0x4: // SusHandlingParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(susHandlingParameters.sus0orientationMatrix); break; @@ -224,7 +223,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x5): // GyrHandlingParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix); break; @@ -251,7 +250,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x6): // RwHandlingParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(rwHandlingParameters.inertiaWheel); break; @@ -272,7 +271,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x7): // RwMatrices - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(rwMatrices.alignmentMatrix); break; @@ -299,7 +298,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x8): // SafeModeControllerParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(safeModeControllerParameters.k_rate_mekf); break; @@ -316,9 +315,12 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin); break; case 0x5: - parameterWrapper->set(safeModeControllerParameters.sunTargetDir); + parameterWrapper->set(safeModeControllerParameters.sunTargetDirLeop); break; case 0x6: + parameterWrapper->set(safeModeControllerParameters.sunTargetDir); + break; + case 0x7: parameterWrapper->set(safeModeControllerParameters.satRateRef); break; default: @@ -326,7 +328,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x9): // PointingModeControllerParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(targetModeControllerParameters.refDirection); break; @@ -392,7 +394,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xA): // StrParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(strParameters.exclusionAngle); break; @@ -404,7 +406,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xB): // GpsParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(gpsParameters.timeDiffVelocityMax); break; @@ -413,7 +415,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xC): // PtgTargetParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(ptgTargetParameters.latitudeTgt); break; @@ -428,7 +430,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xD): // SunModelParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(sunModelParameters.domega); break; @@ -458,7 +460,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xE): // KalmanFilterParameters - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR); break; @@ -482,7 +484,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0xF): // MagnetorquesParameter - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix); break; @@ -506,7 +508,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; case (0x10): // DetumbleParameter - switch (parameterId & 0xFF) { + switch (parameterId) { case 0x0: parameterWrapper->set(detumbleParameter.detumblecounter); break; @@ -524,10 +526,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, } break; default: - return INVALID_IDENTIFIER_ID; - } - return returnvalue::OK; - // } else { - // return INVALID_DOMAIN_ID; - // } + return INVALID_DOMAIN_ID; + } + return returnvalue::OK; } diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index df7b0882..d081c8aa 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -810,7 +810,9 @@ class AcsParameters : public HasParametersIF { double sunMagAngleMin = 5 * M_PI / 180; + double sunTargetDirLeop[3] = {0, .5, .5}; double sunTargetDir[3] = {0, 0, 1}; + double satRateRef[3] = {0, 0, 0}; } safeModeControllerParameters;