Merge branch 'v3.0.0-dev' into acs-ptg-ctrl-fixes-2
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Robin Müller 2023-06-06 11:13:42 +02:00
commit 7d1b99c3f4
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5 changed files with 13 additions and 4 deletions

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@ -51,6 +51,8 @@ will consitute of a breaking change warranting a new major release:
reason.
- OFF mode is ignores in TM store for determining whether a store will be written. The modes will
only be used to cancel a transfer.
- Handling of multiple RWs in the ACS Controller is improved and can be changed by parameter
commands.
## Added
@ -92,6 +94,8 @@ will consitute of a breaking change warranting a new major release:
- Prevent spam of TCS controller heater unavailability event if all heaters are in external control.
- TCS heater switch info set contained invalid values because of a faulty `memcpy` in the TCS
controller. There is not crash risk but the heater states were invalid.
- Fixed usage of quaternion valid flag, which does not actually represent the validity of the
quaternion.
- Various fixes for the pointing modes of the `ACS Controller`. All modes should work now as
intended.

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@ -353,8 +353,10 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter == 5) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
multipleRwUnavailableCounter = 0;
}
multipleRwUnavailableCounter++;
return;

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@ -290,6 +290,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x6:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
case 0x7:
parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
break;
default:
return INVALID_IDENTIFIER_ID;
}

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@ -798,6 +798,8 @@ class AcsParameters : public HasParametersIF {
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
uint32_t multipleRwInvalidTimeout = 25;
} rwHandlingParameters;
struct RwMatrices {

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@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(