eive/eive-obsw
eive/eive-obsw
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removed even more deprecated code
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Marius Eggert 2023-04-13 15:02:07 +02:00
parent ae729337a2
commit 673826b131
5 changed files with 26 additions and 33 deletions
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13
mission/controller/AcsController.cpp
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@ -165,9 +165,8 @@ void AcsController::performSafe() {
} }
// get desired satellite rate, sun direction to align to and inertia // get desired satellite rate, sun direction to align to and inertia
double satRateSafe = 0, sunTargetDir[3] = {0, 0, 0}, double sunTargetDir[3] = {0, 0, 0}, inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; guidance.getTargetParamsSafe(sunTargetDir, inertiaEive);
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe, inertiaEive);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy( uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
@ -179,20 +178,20 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF): case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value, safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir, susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
satRateSafe, inertiaEive, magMomMtq, errAng); inertiaEive, magMomMtq, errAng);
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0; safeCtrlFailureCounter = 0;
break; break;
case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF): case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value, safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, satRateSafe, inertiaEive, susDataProcessed.susVecTot.value, sunTargetDir, inertiaEive, magMomMtq,
magMomMtq, errAng); errAng);
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0; safeCtrlFailureCounter = 0;
break; break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING): case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value, safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
satRateSafe, sunTargetDir, magMomMtq, errAng); sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0; safeCtrlFailureCounter = 0;
break; break;

4
mission/controller/acs/Guidance.cpp
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@ -539,8 +539,7 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
} }
} }
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double &satRateSafe, void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double inertiaEive[3][3]) {
double inertiaEive[3][3]) {
std::error_code e; std::error_code e;
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) { not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
@ -554,7 +553,6 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double &satRateSafe,
std::memcpy(inertiaEive, acsParameters->inertiaEIVE.inertiaMatrixUndeployed, std::memcpy(inertiaEive, acsParameters->inertiaEIVE.inertiaMatrixUndeployed,
3 * 3 * sizeof(double)); 3 * 3 * sizeof(double));
} }
satRateSafe = acsParameters->safeModeControllerParameters.satRateRef;
} }
ReturnValue_t Guidance::solarArrayDeploymentComplete() { ReturnValue_t Guidance::solarArrayDeploymentComplete() {

2
mission/controller/acs/Guidance.h
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@ -12,7 +12,7 @@ class Guidance {
Guidance(AcsParameters *acsParameters_); Guidance(AcsParameters *acsParameters_);
virtual ~Guidance(); virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double &satRateRef, double inertiaEive[3][3]); void getTargetParamsSafe(double sunTargetSafe[3], double inertiaEive[3][3]);
ReturnValue_t solarArrayDeploymentComplete(); ReturnValue_t solarArrayDeploymentComplete();
// Function to get the target quaternion and refence rotation rate from gps position and // Function to get the target quaternion and refence rotation rate from gps position and

21
mission/controller/acs/control/SafeCtrl.cpp
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@ -29,8 +29,7 @@ uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t
void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB, void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
const double *sunDirModelI, const double *quatBI, const double *sunDirRefB, const double *sunDirModelI, const double *quatBI, const double *sunDirRefB,
const double satRotRateRef, const double inertiaMatrix[3][3], const double inertiaMatrix[3][3], double *magMomB, double &errorAngle) {
double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T // convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -43,7 +42,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun); errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB); splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(satRotRateRef, sunDirB, sunDirRefB, errorAngle, calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelMekf, acsParameters->safeModeControllerParameters.k_parallelMekf,
acsParameters->safeModeControllerParameters.k_orthoMekf); acsParameters->safeModeControllerParameters.k_orthoMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB, calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -59,8 +58,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB, void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
const double *sunDirB, const double *sunDirRefB, const double *sunDirB, const double *sunDirRefB,
const double satRotRateRef, const double inertiaMatrix[3][3], const double inertiaMatrix[3][3], double *magMomB, double &errorAngle) {
double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T // convert magFieldB from uT to T
double magFieldBT[3] = {0, 0, 0}; double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -70,7 +68,7 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun); errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB); splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(satRotRateRef, sunDirB, sunDirRefB, errorAngle, calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf, acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf); acsParameters->safeModeControllerParameters.k_orthoNonMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB, calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -86,8 +84,7 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
} }
void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB, void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
const double satRotRateRef, const double *sunDirRefB, const double *sunDirRefB, double *magMomB, double &errorAngle) {
double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T // convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -95,7 +92,7 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
errorAngle = NAN; errorAngle = NAN;
splitRotationalRate(satRotRateB, sunDirRefB); splitRotationalRate(satRotRateB, sunDirRefB);
calculateRotationalRateTorque(satRotRateRef, sunDirRefB, sunDirRefB, errorAngle, calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf, acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf); acsParameters->safeModeControllerParameters.k_orthoNonMekf);
@ -115,9 +112,9 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3); VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
} }
void SafeCtrl::calculateRotationalRateTorque(const double satRotRateRef, const double *sunDirB, void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
const double *sunDirRefB, double &errorAngle, double &errorAngle, const double gainParallel,
const double gainParallel, const double gainOrtho) { const double gainOrtho) {
// calculate torque for parallel rotational rate // calculate torque for parallel rotational rate
VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3); VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);

19
mission/controller/acs/control/SafeCtrl.h
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@ -17,22 +17,21 @@ class SafeCtrl {
const uint8_t mekfEnabled, const uint8_t dampingEnabled); const uint8_t mekfEnabled, const uint8_t dampingEnabled);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, const double satRotRateRef, const double *quatBI, const double *sunDirRefB, const double inertiaMatrix[3][3],
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle); double *magMomB, double &errorAngle);
void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB, void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
const double *sunDirRefB, const double satRotRateRef, const double *sunDirRefB, const double inertiaMatrix[3][3], double *magMomB,
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
void safeRateDamping(const double *magFieldB, const double *satRotRateB,
const double satRotRateRef, const double *sunDirRefB, double *magMomB,
double &errorAngle); double &errorAngle);
void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
double *magMomB, double &errorAngle);
void splitRotationalRate(const double *satRotRateB, const double *sunDirB); void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
void calculateRotationalRateTorque(const double satRotRateRef, const double *sunDirB, void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
const double *sunDirRefB, double &errorAngle, double &errorAngle, const double gainParallel,
const double gainParallel, const double gainOrtho); const double gainOrtho);
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB, void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign, const double inertiaMatrix[3][3]); const double gainAlign, const double inertiaMatrix[3][3]);