Merge remote-tracking branch 'origin/main' into cfdp-source-handler
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
This commit is contained in:
commit
a7c1b19db4
@ -28,6 +28,8 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
## Changed
|
||||
- GPS Fix has changed event is no longer triggered for the EM
|
||||
- MGM and SUS rates now will only be calculated, if 2 valid consecutive datapoints are available.
|
||||
The stored value of the last timestep will now be reset, if no actual value is available.
|
||||
|
||||
# [v6.3.0] 2023-08-03
|
||||
|
||||
|
@ -1,19 +1,5 @@
|
||||
#include "SensorProcessing.h"
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw/globalfunctions/constants.h>
|
||||
#include <fsfw/globalfunctions/math/MatrixOperations.h>
|
||||
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
|
||||
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
||||
#include <fsfw/globalfunctions/timevalOperations.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
|
||||
#include "Igrf13Model.h"
|
||||
#include "util/MathOperations.h"
|
||||
|
||||
using namespace Math;
|
||||
|
||||
SensorProcessing::SensorProcessing() {}
|
||||
|
||||
SensorProcessing::~SensorProcessing() {}
|
||||
@ -54,6 +40,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
|
||||
mgmDataProcessed->magIgrfModel.setValid(gpsValid);
|
||||
}
|
||||
}
|
||||
std::memcpy(savedMgmVecTot, ZERO_VEC_D, sizeof(savedMgmVecTot));
|
||||
return;
|
||||
}
|
||||
float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
|
||||
@ -141,14 +128,14 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
|
||||
double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
|
||||
bool mgmVecTotDerivativeValid = false;
|
||||
double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
|
||||
if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0) {
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
|
||||
savedMgmVecTot[i] = mgmVecTot[i];
|
||||
mgmVecTotDerivativeValid = true;
|
||||
}
|
||||
if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0 and
|
||||
VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
|
||||
VectorOperations<double>::subtract(mgmVecTot, savedMgmVecTot, mgmVecTotDerivative, 3);
|
||||
VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDiff, mgmVecTotDerivative, 3);
|
||||
mgmVecTotDerivativeValid = true;
|
||||
}
|
||||
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
|
||||
std::memcpy(savedMgmVecTot, mgmVecTot, sizeof(savedMgmVecTot));
|
||||
|
||||
if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
|
||||
mgmDataProcessed->mgmVecTotDerivative.isValid()) {
|
||||
@ -277,6 +264,7 @@ void SensorProcessing::processSus(
|
||||
susDataProcessed->sunIjkModel.setValid(true);
|
||||
}
|
||||
}
|
||||
std::memcpy(savedSusVecTot, ZERO_VEC_D, sizeof(savedSusVecTot));
|
||||
return;
|
||||
}
|
||||
|
||||
@ -365,13 +353,13 @@ void SensorProcessing::processSus(
|
||||
double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
|
||||
bool susVecTotDerivativeValid = false;
|
||||
double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
|
||||
if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0) {
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
|
||||
savedSusVecTot[i] = susVecTot[i];
|
||||
susVecTotDerivativeValid = true;
|
||||
}
|
||||
if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0 and
|
||||
VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
|
||||
VectorOperations<double>::subtract(susVecTot, savedSusVecTot, susVecTotDerivative, 3);
|
||||
VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDiff, susVecTotDerivative, 3);
|
||||
susVecTotDerivativeValid = true;
|
||||
}
|
||||
std::memcpy(savedSusVecTot, susVecTot, sizeof(savedSusVecTot));
|
||||
if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
|
||||
susDataProcessed->susVecTotDerivative.isValid()) {
|
||||
lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
|
||||
|
@ -1,15 +1,22 @@
|
||||
#ifndef SENSORPROCESSING_H_
|
||||
#define SENSORPROCESSING_H_
|
||||
|
||||
#include <common/config/eive/resultClassIds.h>
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw/globalfunctions/constants.h>
|
||||
#include <fsfw/globalfunctions/math/MatrixOperations.h>
|
||||
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
|
||||
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
||||
#include <fsfw/globalfunctions/timevalOperations.h>
|
||||
#include <fsfw/returnvalues/returnvalue.h>
|
||||
#include <stdint.h> //uint8_t
|
||||
#include <time.h> /*purpose, timeval ?*/
|
||||
#include <mission/controller/acs/AcsParameters.h>
|
||||
#include <mission/controller/acs/Igrf13Model.h>
|
||||
#include <mission/controller/acs/SensorValues.h>
|
||||
#include <mission/controller/acs/SusConverter.h>
|
||||
#include <mission/controller/acs/util/MathOperations.h>
|
||||
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
|
||||
|
||||
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
|
||||
#include "AcsParameters.h"
|
||||
#include "SensorValues.h"
|
||||
#include "SusConverter.h"
|
||||
#include "eive/resultClassIds.h"
|
||||
#include <cmath>
|
||||
|
||||
class SensorProcessing {
|
||||
public:
|
||||
|
Loading…
Reference in New Issue
Block a user