Merge pull request 'SUS Total Vector Eclipse Fix' (#684) from sus-tot-reset-fix into main

Reviewed-on: #684
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- SUS total vector was not reset to being a zero vector during eclipse due to a wrong memcpy
+  length.
+
 # [v4.0.0] to be released
 
 # [v3.1.1] 2023-06-14

mission/controller/acs/SensorProcessing.cpp

@@ -30,10 +30,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   // ------------------------------------------------
   double magIgrfModel[3] = {0.0, 0.0, 0.0};
   if (gpsValid) {
-    // Should be existing class object which will be called and modified here.
     Igrf13Model igrf13;
-    // So the line above should not be done here. Update: Can be done here as long updated coffs
-    //		stored in acsParameters ?
     igrf13.schmidtNormalization();
     igrf13.updateCoeffGH(timeOfMgmMeasurement);
     // maybe put a condition here, to only update after a full day, this
@@ -45,14 +42,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         mgmDataProcessed->setValidity(false, true);
         std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
         mgmDataProcessed->magIgrfModel.setValid(gpsValid);
@@ -252,21 +248,20 @@ void SensorProcessing::processSus(
     {
       PoolReadGuard pg(susDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         susDataProcessed->setValidity(false, true);
         std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
         susDataProcessed->sunIjkModel.setValid(true);
@@ -274,7 +269,6 @@ void SensorProcessing::processSus(
     }
     return;
   }
-  // WARNING: NOT TRANSFORMED IN BODY FRAME YET
   // Transformation into Geomtry Frame
   float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
         sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
@@ -459,12 +453,11 @@ void SensorProcessing::processGyr(
     {
       PoolReadGuard pg(gyrDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        double zeroVector[3] = {0.0, 0.0, 0.0};
+        std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
-        std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
         gyrDataProcessed->setValidity(false, true);
       }
     }

mission/controller/acs/SensorProcessing.h

@@ -23,6 +23,9 @@ class SensorProcessing {
                acsctrl::GpsDataProcessed *gpsDataProcessed,
                const AcsParameters *acsParameters);  // Will call protected functions
  private:
+  static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
+
  protected:
   // short description needed for every function
   void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,