eive/eive-obsw
eive/eive-obsw
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small stuff
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This commit is contained in:
Marius Eggert 2022-10-25 11:31:54 +02:00
parent 4bd2a2dac8
commit 69099881bd
3 changed files with 15 additions and 22 deletions
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23
mission/controller/AcsController.cpp
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@ -97,7 +97,7 @@ void AcsController::performSafe() {
sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters); sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
ReturnValue_t validMekf; ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &outputValues, &validMekf); // DOES THIS WORK WITH VALID? navigation.useMekf(&sensorValues, &outputValues, &validMekf);
// Give desired satellite rate and sun direction to align // Give desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0}; double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
@ -127,24 +127,17 @@ void AcsController::performSafe() {
if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) > if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++; detumbleCounter++;
} } else if (outputValues.satRateEstValid &&
else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) > VectorOperations<double>::norm(outputValues.satRateEst, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++; detumbleCounter++;
} else {
}
else {
detumbleCounter = 0; detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE; submode = SUBMODE_DETUMBLE;
detumbleCounter = 0; detumbleCounter = 0;
} }
// commanding.magnetorquesDipol(); // commanding.magnetorquesDipol();
} }
@ -154,7 +147,6 @@ void AcsController::performDetumble() {
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
// Clock::getUptime(&now);
sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters); sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
ReturnValue_t validMekf; ReturnValue_t validMekf;
@ -170,14 +162,13 @@ void AcsController::performDetumble() {
if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) < if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} } else if (outputValues.satRateEstValid &&
else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) < VectorOperations<double>::norm(outputValues.satRateEst, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} else {
detumbleCounter = 0;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE; submode = SUBMODE_SAFE;
detumbleCounter = 0; detumbleCounter = 0;
@ -235,6 +226,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf); localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
@ -539,3 +531,4 @@ void AcsController::copyGyrData() {
} }
} }
} }

2
mission/controller/AcsController.h
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@ -82,7 +82,7 @@ class AcsController : public ExtendedControllerBase {
PoolEntry<float> mgm2VecProc = PoolEntry<float>(3); PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm3VecProc = PoolEntry<float>(3); PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm4VecProc = PoolEntry<float>(3); PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
PoolEntry<float> mgmVecTot = PoolEntry<float>(3); PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
PoolEntry<float> mgmVecTotDer = PoolEntry<float>(3); PoolEntry<float> mgmVecTotDer = PoolEntry<float>(3);
PoolEntry<double> magIgrf = PoolEntry<double>(3); PoolEntry<double> magIgrf = PoolEntry<double>(3);

2
mission/controller/acs/OutputValues.h
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@ -19,7 +19,7 @@ class OutputValues {
double magneticFieldVectorDerivative[3]; double magneticFieldVectorDerivative[3];
bool magneticFieldVectorDerivativeValid; bool magneticFieldVectorDerivativeValid;
bool mgmUpdated; // ToDo: ???? bool mgmUpdated; // ToDo: relic from FLP. most likely not used
double sunDirEst[3]; // sensor fusion (G) double sunDirEst[3]; // sensor fusion (G)
bool sunDirEstValid; bool sunDirEstValid;