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use calculation
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This commit is contained in:
Marius Eggert 2023-07-20 11:09:46 +02:00
parent 300a6c5ff2
commit 7b0a47b010
2 changed files with 5 additions and 1 deletions
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4
mission/controller/AcsController.cpp
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@ -10,6 +10,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
guidance(&acsParameters), guidance(&acsParameters),
safeCtrl(&acsParameters), safeCtrl(&acsParameters),
ptgCtrl(&acsParameters), ptgCtrl(&acsParameters),
fusedRotationEstimation(&acsParameters),
parameterHelper(this), parameterHelper(this),
mgmDataRaw(this), mgmDataRaw(this),
mgmDataProcessed(this), mgmDataProcessed(this),
@ -147,7 +148,8 @@ void AcsController::performSafe() {
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters); &susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&

2
mission/controller/AcsController.h
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@ -13,6 +13,7 @@
#include <mission/acs/rwHelpers.h> #include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h> #include <mission/acs/susMax1227Helpers.h>
#include <mission/controller/acs/ActuatorCmd.h> #include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
#include <mission/controller/acs/Guidance.h> #include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h> #include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/Navigation.h> #include <mission/controller/acs/Navigation.h>
@ -49,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
AcsParameters acsParameters; AcsParameters acsParameters;
SensorProcessing sensorProcessing; SensorProcessing sensorProcessing;
FusedRotationEstimation fusedRotationEstimation;
Navigation navigation; Navigation navigation;
ActuatorCmd actuatorCmd; ActuatorCmd actuatorCmd;
Guidance guidance; Guidance guidance;