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Merge pull request 'SUS Total Vector Eclipse Fix' (#684) from sus-tot-reset-fix into main
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Reviewed-on: #684
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-06-16 18:28:52 +02:00
commit 86d22affe2
3 changed files with 34 additions and 33 deletions
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5
CHANGELOG.md
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@ -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

59
mission/controller/acs/SensorProcessing.cpp
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@ -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, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
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, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
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, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
gyrDataProcessed->setValidity(false, true);
}
}

3
mission/controller/acs/SensorProcessing.h
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@ -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,