Init Commit

mission/controller/acs/SusConverter.cpp

@@ -0,0 +1,64 @@
+#include "SusConverter.h"
+
+#include <math.h>
+
+uint64_t SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
+  if (susChannel[0] <= SUS_CHANNEL_VALUE_LOW || susChannel[0] > SUS_CHANNEL_VALUE_HIGH ||
+      susChannel[0] > susChannel[GNDREF]) {
+    return 0;
+  }
+  if (susChannel[1] <= SUS_CHANNEL_VALUE_LOW || susChannel[1] > SUS_CHANNEL_VALUE_HIGH ||
+      susChannel[1] > susChannel[GNDREF]) {
+    return 0;
+  };
+  if (susChannel[2] <= SUS_CHANNEL_VALUE_LOW || susChannel[2] > SUS_CHANNEL_VALUE_HIGH ||
+      susChannel[2] > susChannel[GNDREF]) {
+    return 0;
+  };
+  if (susChannel[3] <= SUS_CHANNEL_VALUE_LOW || susChannel[3] > SUS_CHANNEL_VALUE_HIGH ||
+      susChannel[3] > susChannel[GNDREF]) {
+    return 0;
+  };
+
+  uint64_t susChannelValueSum =
+      4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
+  if (susChannelValueSum < SUS_ALBEDO_CHECK) {
+    return 0;
+  };
+  return susChannelValueSum;
+}
+
+bool SusConverter::checkValidity(bool* susValid, const uint64_t brightness[12],
+                                 const float threshold) {
+  uint8_t maxBrightness = 0;
+  VectorOperations<uint64_t>::maxValue(brightness, 12, &maxBrightness);
+  if (brightness[maxBrightness] == 0) {
+    return true;
+  }
+  for (uint8_t idx = 0; idx < 12; idx++) {
+    if ((idx != maxBrightness) and (brightness[idx] < threshold * brightness[maxBrightness])) {
+      susValid[idx] = false;
+      continue;
+    }
+    susValid[idx] = true;
+  }
+  return false;
+}
+
+void SusConverter::calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]) {
+  // Substract measurement values from GNDREF zero current threshold
+  float ch0 = susChannel[GNDREF] - susChannel[0];
+  float ch1 = susChannel[GNDREF] - susChannel[1];
+  float ch2 = susChannel[GNDREF] - susChannel[2];
+  float ch3 = susChannel[GNDREF] - susChannel[3];
+
+  // Calculation of x and y
+  float xout = ((D - S) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  float yout = ((D - S) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+
+  // Calculation of the angles
+  sunVectorSensorFrame[0] = -xout;
+  sunVectorSensorFrame[1] = -yout;
+  sunVectorSensorFrame[2] = H;
+  VectorOperations<float>::normalize(sunVectorSensorFrame, sunVectorSensorFrame, 3);
+}