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extended state machine
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This commit is contained in:
Marius Eggert
2023-07-19 13:24:37 +02:00
parent ebedb59929
commit 8451a2f8ef
3 changed files with 72 additions and 26 deletions
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57
mission/controller/acs/control/SafeCtrl.cpp
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@ -12,15 +12,20 @@ SafeCtrl::~SafeCtrl() {}
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled,
const uint8_t gyrEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
} else if (dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
return acs::SafeModeStrategy::SAFECTRL_MEKF;
} else if (gyrEnabled and satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_GYR;
} else if (not gyrEnabled and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
} else if (gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {
@ -43,7 +48,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelMekf,
acsParameters->safeModeControllerParameters.k_orthoMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -57,9 +62,8 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
calculateMagneticMoment(magMomB);
}
void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
const double *sunDirB, const double *sunDirRefB, double *magMomB,
double &errorAngle) {
void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
const double *sunDirRefB, double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -68,7 +72,7 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -82,6 +86,32 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
calculateMagneticMoment(magMomB);
}
void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
const double *rotRateOrthogonalB, const double *sunDirB,
const double *sunDirRefB, double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// calculate error angle between sunDirRef and sunDir
double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
errorAngle = acos(dotSun);
std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelSusMgm,
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
acsParameters->safeModeControllerParameters.k_alignSusMgm);
// sum of all torques
for (uint8_t i = 0; i < 3; i++) {
cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
}
calculateMagneticMoment(magMomB);
}
void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
const double *sunDirRefB, double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
@ -91,7 +121,7 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
errorAngle = NAN;
splitRotationalRate(satRotRateB, sunDirRefB);
calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
@ -110,9 +140,8 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
}
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
double &errorAngle, const double gainParallel,
const double gainOrtho) {
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
const double gainParallel, const double gainOrtho) {
// calculate torque for parallel rotational rate
VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);