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removed OutputValues

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amended sumbode list
inserted writes to output DataPools
This commit is contained in:
Marius Eggert
2022-11-03 10:43:27 +01:00
parent 44dda9455d
commit a13ccb43d2
24 changed files with 590 additions and 522 deletions
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29
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -17,6 +17,7 @@ enum SetIds : uint32_t {
GYR_PROCESSED_DATA,
GPS_PROCESSED_DATA,
MEKF_DATA,
CTRL_VAL_DATA,
ACTUATOR_CMD_DATA
};
@ -88,6 +89,10 @@ enum PoolIds : lp_id_t {
// MEKF
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
// Ctrl Values
TGT_QUAT,
ERROR_QUAT,
ERROR_ANG,
// Actuator Cmd
RW_TARGET_TORQUE,
RW_TARGET_SPEED,
@ -102,6 +107,7 @@ static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
static constexpr uint8_t MEKF_SET_ENTRIES = 2;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 99;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
/**
@ -133,9 +139,9 @@ class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
lp_vec_t<float, 3> mgmVecTot = lp_vec_t<float, 3>(sid.objectId, MGM_VEC_TOT, this);
lp_vec_t<float, 3> mgmVecTotDerivative =
lp_vec_t<float, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
lp_vec_t<double, 3> mgmVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
private:
@ -179,9 +185,9 @@ class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> susVecTot = lp_vec_t<float, 3>(sid.objectId, SUS_VEC_TOT, this);
lp_vec_t<float, 3> susVecTotDerivative =
lp_vec_t<float, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
lp_vec_t<double, 3> susVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
private:
@ -232,6 +238,17 @@ class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
private:
};
class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
public:
CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
private:
};
class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
public:
ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}