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Merge branch 'main' into gnss-ctrl-improvements
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This commit is contained in:
Marius Eggert
2024-04-09 14:49:36 +02:00
parent 7a12c1c8fe 3a70155105
commit 709c53d533
17 changed files with 65 additions and 29 deletions
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2
mission/controller/PowerController.cpp
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@ -182,7 +182,7 @@ void PowerController::calculateStateOfCharge() {
}
// calculate total battery current
iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
iBat = p60CoreHk.batteryCurrent.value - bpxBatteryHk.dischargeCurrent.value;
result = calculateOpenCircuitVoltageCharge();
if (result != returnvalue::OK) {

4
mission/controller/ThermalController.h
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@ -197,9 +197,9 @@ class ThermalController : public ExtendedControllerBase {
tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60);
tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
tcsCtrl::TempLimits plocProcessingBoardLimits =
tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60.0);
tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);

3
mission/controller/acs/AcsParameters.cpp
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@ -554,6 +554,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break;
case 0xF:
parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
break;
default:
return INVALID_IDENTIFIER_ID;
}

3
mission/controller/acs/AcsParameters.h
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@ -866,7 +866,7 @@ class AcsParameters : public HasParametersIF {
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
uint8_t desatOn = true;
uint8_t useMekf = false;
uint8_t useMekf = true;
} pointingLawParameters;
struct IdleModeControllerParameters : PointingLawParameters {
@ -898,6 +898,7 @@ class AcsParameters : public HasParametersIF {
double latitudeTgt = 48.7495 * DEG2RAD; // [rad] Latitude
double longitudeTgt = 9.10384 * DEG2RAD; // [rad] Longitude
double altitudeTgt = 500; // [m]
double rotRateLimit = .75 * DEG2RAD;
} gsTargetModeControllerParameters;
struct NadirModeControllerParameters : PointingLawParameters {

2
mission/controller/acs/Guidance.cpp
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@ -251,7 +251,7 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
QuaternionOperations::inverse(quatIXprev, quatXprevI);
QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
QuaternionOperations::normalize(quatXprevX);
double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
acsParameters->onBoardParams.sampleTime;
if (2 * std::acos(quatXprevX[3]) < phiMax) {
return;