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added parameter to disable usage of mgm4

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This commit is contained in:
Marius Eggert 2023-08-15 09:37:54 +02:00
parent 8447b3c41e
commit 7ab8fb8cb9
3 changed files with 5 additions and 1 deletions
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3
mission/controller/acs/AcsParameters.cpp
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@ -113,6 +113,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x13:
parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
break;
case 0x14:
parameterWrapper->set(mgmHandlingParameters.useMgm4);
break;
default:
return INVALID_IDENTIFIER_ID;
}

1
mission/controller/acs/AcsParameters.h
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@ -80,6 +80,7 @@ class AcsParameters : public HasParametersIF {
float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
float mgmVectorFilterWeight = 0.85;
float mgmDerivativeFilterWeight = 0.85;
uint8_t useMgm4 = false;
} mgmHandlingParameters;
struct SusHandlingParameters {

2
mission/controller/acs/SensorProcessing.cpp
View File

@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm4valid) {
if (mgm4valid and mgmParameters->useMgm4) {
float mgm4ValueUT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3); // nT to uT
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,