Merge pull request 'Bugfixes for Detumble Mode' (#764) from acs-detumble-bugfixes into main

Reviewed-on: #764
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -20,6 +20,9 @@ will consitute of a breaking change warranting a new major release:
 
 - Small SCEX fix: The temperatur check option was not passed
   on for commands with a user data size larger than 1.
+- ACS Controller strategy is now actually written to the dataset for detumbling
+- During detumble the fused rotation rate is now calculated
+- Detumbling is now exited when its exit value is undercut and not its entry value
 - `EiveSystem`: Add a small delay between triggering an event for FDIR reboots and sending the
   command to the core controller.
 

mission/controller/AcsController.cpp

@@ -273,6 +273,8 @@ void AcsController::performDetumble() {
 
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
+                                                        &gyrDataProcessed, &fusedRotRateData);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@@ -321,18 +323,18 @@ void AcsController::performDetumble() {
   if (acsParameters.safeModeControllerParameters.useMekf) {
     if (mekfData.satRotRateMekf.isValid() and
         VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
     }
   } else if (acsParameters.safeModeControllerParameters.useGyr) {
     if (gyrDataProcessed.gyrVecTot.isValid() and
         VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
+            acsParameters.detumbleParameter.omegaDetumbleEnd) {
       detumbleCounter++;
     }
   } else if (fusedRotRateData.rotRateTotal.isValid() and
              VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
-                 acsParameters.detumbleParameter.omegaDetumbleStart) {
+                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
     detumbleCounter++;
   } else if (detumbleCounter > 0) {
     detumbleCounter -= 1;
@@ -345,7 +347,7 @@ void AcsController::performDetumble() {
     startTransition(mode, acs::SafeSubmode::DEFAULT);
   }
 
-  disableCtrlValData();
+  updateCtrlValData(safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
@@ -616,6 +618,23 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
   }
 }
 
+void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = 0;
+    ctrlValData.errAng.setValid(false);
+    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
+    ctrlValData.tgtRotRate.setValid(false);
+    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.setValid(true);
+    ctrlValData.setValidity(true, false);
+  }
+}
+
 void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
@@ -646,17 +665,6 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
   }
 }
 
-void AcsController::disableCtrlValData() {
-  PoolReadGuard pg(&ctrlValData);
-  if (pg.getReadResult() == returnvalue::OK) {
-    std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
-    ctrlValData.errAng.value = 0;
-    std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
-    ctrlValData.setValidity(false, true);
-  }
-}
-
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
   // MGM Raw

mission/controller/AcsController.h

@@ -117,10 +117,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const int16_t* mtqTargetDipole);
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
+  void updateCtrlValData(uint8_t safeModeStrat);
   void updateCtrlValData(double errAng, uint8_t safeModeStrat);
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                          const double* tgtRotRate);
-  void disableCtrlValData();
 
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;