eive/eive-obsw
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do not use raw gps data anywhere
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Marius Eggert 2023-08-09 10:46:43 +02:00
parent 1069572392
commit a9fe166b32
2 changed files with 7 additions and 10 deletions
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13
mission/controller/acs/SensorProcessing.cpp
View File

@ -24,19 +24,20 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
bool mgm4valid, timeval timeOfMgmMeasurement,
const AcsParameters::MgmHandlingParameters *mgmParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const double gpsAltitude, bool gpsValid,
acsctrl::MgmDataProcessed *mgmDataProcessed) {
// ---------------- IGRF- 13 Implementation here
// ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
bool gpsValid = false;
if (gpsDataProcessed->source.value != acs::GpsSource::NONE) {
Igrf13Model igrf13;
igrf13.schmidtNormalization();
igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this
// class function has around 700 steps to perform
igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
gpsValid = true;
}
if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
{
@ -627,11 +628,7 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
sensorValues->mgm3Rm3100Set.fieldStrengths.value,
sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
now, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
sensorValues->gpsSet.altitude.value,
(sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
sensorValues->gpsSet.altitude.isValid()),
mgmDataProcessed);
now, &acsParameters->mgmHandlingParameters, gpsDataProcessed, mgmDataProcessed);
processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),

4
mission/controller/acs/SensorProcessing.h
View File

@ -31,8 +31,8 @@ class SensorProcessing {
const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
const AcsParameters::MgmHandlingParameters *mgmParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed, const double gpsAltitude,
bool gpsValid, acsctrl::MgmDataProcessed *mgmDataProcessed);
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed);
void processSus(const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value,
bool sus1valid, const uint16_t *sus2Value, bool sus2valid,