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Merge branch 'develop' into eggert/acs-ctrl-action-cmds

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This commit is contained in:
Marius Eggert
2023-02-24 09:18:25 +01:00
parent 89518a035a 104d9647fe
commit 7392012a00
45 changed files with 852 additions and 475 deletions
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78
mission/controller/AcsController.cpp
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@ -452,64 +452,52 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
return returnvalue::OK;
}
void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
updateActuatorCmdData(RW_OFF_TORQUE, RW_OFF_SPEED, mtqTargetDipole);
}
void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
int16_t mtqTargetDipole[3]) {
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
actuatorCmdData.setValidity(true, true);
}
void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
const int32_t *rwTargetSpeed,
const int16_t *mtqTargetDipole) {
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
actuatorCmdData.setValidity(true, true);
}
}
void AcsController::updateCtrlValData(double errAng) {
double unitQuat[4] = {0, 0, 0, 1};
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
}
void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng) {
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng;
ctrlValData.setValidity(true, true);
}
void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng;
ctrlValData.setValidity(true, true);
}
}
void AcsController::disableCtrlValData() {
double unitQuat[4] = {0, 0, 0, 1};
double errAng = 0;
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng;
ctrlValData.setValidity(false, true);
}
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.errAng.value = 0;
ctrlValData.setValidity(false, true);
}
}