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improved naming
EIVE/eive-obsw/pipeline/pr-v3.0.0-dev This commit looks good Details

This commit is contained in:
Marius Eggert 2023-06-05 11:51:04 +02:00
parent 14ac05137c
commit 69be05e621
6 changed files with 30 additions and 28 deletions
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4
mission/acs/defs.h
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@ -22,7 +22,7 @@ enum AcsMode : Mode_t {
enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };
enum SafeModeStrategy : uint8_t {
enum ctrlStrategy : uint8_t {
SAFECTRL_OFF = 0,
SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
@ -32,6 +32,8 @@ enum SafeModeStrategy : uint8_t {
SAFECTRL_ECLIPSE_IDELING = 13,
SAFECTRL_DETUMBLE_FULL = 20,
SAFECTRL_DETUMBLE_DETERIORATED = 21,
PTGCTRL_ACTIVE_MEKF = 30,
PTGCTRL_WITHOUT_MEKF = 31,
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;

26
mission/controller/AcsController.cpp
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@ -169,40 +169,40 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
acs::ctrlStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.useMekf,
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
switch (safeCtrlStrat) {
case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
case (acs::ctrlStrategy::SAFECTRL_ACTIVE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
case (acs::ctrlStrategy::SAFECTRL_WITHOUT_MEKF):
safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
case (acs::ctrlStrategy::SAFECTRL_ECLIPSE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
case (acs::ctrlStrategy::SAFECTRL_ECLIPSE_IDELING):
errAng = NAN;
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
case (acs::ctrlStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
case (acs::ctrlStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
default:
@ -261,24 +261,24 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
acs::ctrlStrategy safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw);
double magMomMtq[3] = {0, 0, 0};
switch (safeCtrlStrat) {
case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL):
case (acs::ctrlStrategy::SAFECTRL_DETUMBLE_FULL):
detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value,
magMomMtq, acsParameters.detumbleParameter.gainFull);
break;
case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
case (acs::ctrlStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value,
magMomMtq, acsParameters.detumbleParameter.gainBdot);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
case (acs::ctrlStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
case (acs::ctrlStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
default:
@ -602,7 +602,7 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng;
std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
ctrlValData.safeStrat.value = acs::SafeModeStrategy::SAFECTRL_OFF;
ctrlValData.safeStrat.value = acs::ctrlStrategy::SAFECTRL_OFF;
ctrlValData.setValidity(true, true);
}
}

10
mission/controller/acs/control/Detumble.cpp
View File

@ -7,18 +7,18 @@ Detumble::Detumble() {}
Detumble::~Detumble() {}
acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
acs::ctrlStrategy Detumble::detumbleStrategy(const bool magFieldValid,
const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
return acs::ctrlStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (satRotRateValid and useFullDetumbleLaw) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
return acs::ctrlStrategy::SAFECTRL_DETUMBLE_FULL;
} else if (magFieldRateValid) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
return acs::ctrlStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
return acs::ctrlStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
}

2
mission/controller/acs/control/Detumble.h
View File

@ -11,7 +11,7 @@ class Detumble {
Detumble();
virtual ~Detumble();
acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
acs::ctrlStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw);

14
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -9,22 +9,22 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
acs::ctrlStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
return acs::ctrlStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
return acs::ctrlStrategy::SAFECTRL_ACTIVE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
return acs::ctrlStrategy::SAFECTRL_WITHOUT_MEKF;
} else if (dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
return acs::ctrlStrategy::SAFECTRL_ECLIPSE_DAMPING;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
return acs::ctrlStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
return acs::ctrlStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
}

2
mission/controller/acs/control/SafeCtrl.h
View File

@ -12,7 +12,7 @@ class SafeCtrl {
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
acs::ctrlStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled);