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Merge pull request 'Revert ACS Safe Mode Controller to FLP Design' (#466) from acs-flp-safe into develop
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Reviewed-on: #466
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-04-14 20:26:19 +02:00
commit aa54dbbd10
31 changed files with 513 additions and 431 deletions
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8
CHANGELOG.md
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@ -52,6 +52,14 @@ will consitute of a breaking change warranting a new major release:
- Added `I2C_REBOOT` and `PDEC_REBOOT` events for EIVE system component to ensure ground gets - Added `I2C_REBOOT` and `PDEC_REBOOT` events for EIVE system component to ensure ground gets
informed. informed.
## ACS
- Commanding from ACS Controller is now enabled.
- Safe Controller was reverted to FLP Design. This also introduces safe mode strategies.
They contain what the controller does and which data it uses. The controller will
automatically based on the available data decide on which strategy to use. If a strategy
is undesirable (e.g. the MEKF should not be used) this can be handeld via setting parameters.
# [v1.44.1] 2023-04-12 # [v1.44.1] 2023-04-12
- eive-tmtc: v2.22.1 - eive-tmtc: v2.22.1

9
bsp_hosted/fsfwconfig/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 289 translations. * @brief Auto-generated event translation file. Contains 290 translations.
* @details * @details
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@ -482,8 +483,10 @@ const char *translateEvents(Event event) {
case (11204): case (11204):
return MEKF_RECOVERY_STRING; return MEKF_RECOVERY_STRING;
case (11205): case (11205):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_AUTOMATIC_RESET_STRING;
case (11206): case (11206):
return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11207):
return SAFE_MODE_CONTROLLER_FAILURE_STRING; return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;

2
bsp_hosted/fsfwconfig/objects/translateObjects.cpp
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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 171 translations. * Contains 171 translations.
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateObjects.h" #include "translateObjects.h"

3
common/config/eive/resultClassIds.h
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@ -37,9 +37,6 @@ enum commonClassIds : uint8_t {
SUPV_RETURN_VALUES_IF, // SPVRTVIF SUPV_RETURN_VALUES_IF, // SPVRTVIF
ACS_CTRL, // ACSCTRL ACS_CTRL, // ACSCTRL
ACS_MEKF, // ACSMEKF ACS_MEKF, // ACSMEKF
ACS_SAFE, // ACSSAF
ACS_PTG, // ACSPTG
ACS_DETUMBLE, // ACSDTB
SD_CARD_MANAGER, // SDMA SD_CARD_MANAGER, // SDMA
LOCAL_PARAM_HANDLER, // LPH LOCAL_PARAM_HANDLER, // LPH
PERSISTENT_TM_STORE, // PTM PERSISTENT_TM_STORE, // PTM

21
generators/bsp_hosted_events.csv
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@ -86,13 +86,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h 10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acs/defs.h 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acs/defs.h 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acs/defs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acs/defs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
11204;0x2bc4;MEKF_RECOVERY;INFO;No description;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
11205;0x2bc5;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acs/defs.h 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
11206;0x2bc6;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acs/defs.h 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@ -263,9 +264,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h 14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h 14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
14012;0x36bc;PDEC_REBOOT;MEDIUM;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
86 10802 0x2a32 SERIALIZATION_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
87 10803 0x2a33 FILESTORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM No description The limits for the rotation in safe mode were violated. mission/acs/defs.h
90 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM No description The system has recovered from a safe rate rotation violation. mission/acs/defs.h
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained. mission/acs/defs.h
92 11203 0x2bc3 MEKF_INVALID_INFO INFO No description MEKF was not able to compute a solution. P1: MEKF state on exit mission/acs/defs.h
93 11204 0x2bc4 MEKF_RECOVERY INFO No description MEKF is able to compute a solution again. mission/acs/defs.h
94 11205 0x2bc5 MEKF_INVALID_MODE_VIOLATION MEKF_AUTOMATIC_RESET HIGH INFO No description MEKF performed an automatic reset after detection of nonfinite values. mission/acs/defs.h
95 11206 0x2bc6 SAFE_MODE_CONTROLLER_FAILURE MEKF_INVALID_MODE_VIOLATION HIGH No description MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time. mission/acs/defs.h
96 11207 0x2bc7 SAFE_MODE_CONTROLLER_FAILURE HIGH The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate mission/acs/defs.h
97 11300 0x2c24 SWITCH_CMD_SENT INFO Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index mission/power/defs.h
98 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
99 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h
264 14006 0x36b6 CURRENT_IMAGE_INFO INFO P1: Current Chip, P2: Current Copy mission/sysDefs.h
265 14007 0x36b7 REBOOT_COUNTER INFO Total reboot counter, which is the sum of the boot count of all individual images. mission/sysDefs.h
266 14008 0x36b8 INDIVIDUAL_BOOT_COUNTS INFO Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1. mission/sysDefs.h
267 14010 0x36ba TRYING_I2C_RECOVERY MEDIUM HIGH I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices. mission/sysDefs.h
268 14011 0x36bb I2C_REBOOT MEDIUM HIGH I2C is unavailable. Recovery did not work, performing full reboot. mission/sysDefs.h
269 14012 0x36bc PDEC_REBOOT MEDIUM HIGH PDEC recovery through reset was not possible, performing full reboot. mission/sysDefs.h
270 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
271 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
272 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h

11
generators/bsp_hosted_returnvalues.csv
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@ -500,7 +500,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h 0x6900;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
@ -509,9 +509,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h 0x6d00;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h 0x6d01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h 0x6e00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
0x7000;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x7001;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x7100;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
500 0x66a2 SADPL_MainSwitchTimeoutFailure No description 162 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
501 0x66a3 SADPL_SwitchingDeplSa1Failed No description 163 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
502 0x66a4 SADPL_SwitchingDeplSa2Failed No description 164 SA_DEPL_HANDLER mission/SolarArrayDeploymentHandler.h
503 0x6900 ACSCTRL_FileDeletionFailed No description File deletion failed and at least one file is still existent. 0 ACS_CTRL mission/controller/AcsController.h
504 0x6a02 ACSMEKF_MekfUninitialized No description 2 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
505 0x6a03 ACSMEKF_MekfNoGyrData No description 3 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
506 0x6a04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
509 0x6a07 ACSMEKF_MekfNotFinite No description 7 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
510 0x6a08 ACSMEKF_MekfInitialized No description 8 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
511 0x6a09 ACSMEKF_MekfRunning No description 9 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
512 0x6b01 0x6d00 ACSSAF_SafectrlMekfInputInvalid PTM_DumpDone No description 1 0 ACS_SAFE PERSISTENT_TM_STORE mission/controller/acs/control/SafeCtrl.h mission/tmtc/PersistentTmStore.h
513 0x6c01 0x6d01 ACSPTG_PtgctrlMekfInputInvalid PTM_BusyDumping No description 1 ACS_PTG PERSISTENT_TM_STORE mission/controller/acs/control/PtgCtrl.h mission/tmtc/PersistentTmStore.h
514 0x6d01 0x6e00 ACSDTB_DetumbleNoSensordata TMS_IsBusy No description 1 0 ACS_DETUMBLE TM_SINK mission/controller/acs/control/Detumble.h mission/tmtc/DirectTmSinkIF.h
0x7000 PTM_DumpDone No description 0 PERSISTENT_TM_STORE mission/tmtc/PersistentTmStore.h
0x7001 PTM_BusyDumping No description 1 PERSISTENT_TM_STORE mission/tmtc/PersistentTmStore.h
0x7100 TMS_IsBusy No description 0 TM_SINK mission/tmtc/DirectTmSinkIF.h

21
generators/bsp_q7s_events.csv
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@ -86,13 +86,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h 10802;0x2a32;SERIALIZATION_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h 10803;0x2a33;FILESTORE_ERROR;LOW;No description;fsfw/src/fsfw/cfdp/handler/defs.h
10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h 10804;0x2a34;FILENAME_TOO_LARGE_ERROR;LOW;P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name;fsfw/src/fsfw/cfdp/handler/defs.h
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;No description;mission/acs/defs.h 11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;The limits for the rotation in safe mode were violated.;mission/acs/defs.h
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;No description;mission/acs/defs.h 11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;The system has recovered from a safe rate rotation violation.;mission/acs/defs.h
11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;No description;mission/acs/defs.h 11202;0x2bc2;MULTIPLE_RW_INVALID;HIGH;Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained.;mission/acs/defs.h
11203;0x2bc3;MEKF_INVALID_INFO;INFO;No description;mission/acs/defs.h 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
11204;0x2bc4;MEKF_RECOVERY;INFO;No description;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
11205;0x2bc5;MEKF_INVALID_MODE_VIOLATION;HIGH;No description;mission/acs/defs.h 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
11206;0x2bc6;SAFE_MODE_CONTROLLER_FAILURE;HIGH;No description;mission/acs/defs.h 11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
@ -263,9 +264,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;mission/sysDefs.h
14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h 14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;mission/sysDefs.h
14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h 14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;mission/sysDefs.h
14010;0x36ba;TRYING_I2C_RECOVERY;MEDIUM;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h 14010;0x36ba;TRYING_I2C_RECOVERY;HIGH;I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices.;mission/sysDefs.h
14011;0x36bb;I2C_REBOOT;MEDIUM;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h 14011;0x36bb;I2C_REBOOT;HIGH;I2C is unavailable. Recovery did not work, performing full reboot.;mission/sysDefs.h
14012;0x36bc;PDEC_REBOOT;MEDIUM;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h 14012;0x36bc;PDEC_REBOOT;HIGH;PDEC recovery through reset was not possible, performing full reboot.;mission/sysDefs.h
14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/tcsDefs.h
14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/tcsDefs.h
14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
86 10802 0x2a32 SERIALIZATION_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
87 10803 0x2a33 FILESTORE_ERROR LOW No description fsfw/src/fsfw/cfdp/handler/defs.h
88 10804 0x2a34 FILENAME_TOO_LARGE_ERROR LOW P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name fsfw/src/fsfw/cfdp/handler/defs.h
89 11200 0x2bc0 SAFE_RATE_VIOLATION MEDIUM No description The limits for the rotation in safe mode were violated. mission/acs/defs.h
90 11201 0x2bc1 SAFE_RATE_RECOVERY MEDIUM No description The system has recovered from a safe rate rotation violation. mission/acs/defs.h
91 11202 0x2bc2 MULTIPLE_RW_INVALID HIGH No description Multiple RWs are invalid, uncommandable and therefore higher ACS modes cannot be maintained. mission/acs/defs.h
92 11203 0x2bc3 MEKF_INVALID_INFO INFO No description MEKF was not able to compute a solution. P1: MEKF state on exit mission/acs/defs.h
93 11204 0x2bc4 MEKF_RECOVERY INFO No description MEKF is able to compute a solution again. mission/acs/defs.h
94 11205 0x2bc5 MEKF_INVALID_MODE_VIOLATION MEKF_AUTOMATIC_RESET HIGH INFO No description MEKF performed an automatic reset after detection of nonfinite values. mission/acs/defs.h
95 11206 0x2bc6 SAFE_MODE_CONTROLLER_FAILURE MEKF_INVALID_MODE_VIOLATION HIGH No description MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time. mission/acs/defs.h
96 11207 0x2bc7 SAFE_MODE_CONTROLLER_FAILURE HIGH The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate mission/acs/defs.h
97 11300 0x2c24 SWITCH_CMD_SENT INFO Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index mission/power/defs.h
98 11301 0x2c25 SWITCH_HAS_CHANGED INFO Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index mission/power/defs.h
99 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM No description mission/power/defs.h
264 14006 0x36b6 CURRENT_IMAGE_INFO INFO P1: Current Chip, P2: Current Copy mission/sysDefs.h
265 14007 0x36b7 REBOOT_COUNTER INFO Total reboot counter, which is the sum of the boot count of all individual images. mission/sysDefs.h
266 14008 0x36b8 INDIVIDUAL_BOOT_COUNTS INFO Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1. mission/sysDefs.h
267 14010 0x36ba TRYING_I2C_RECOVERY MEDIUM HIGH I2C is unavailable. Trying recovery of I2C bus by power cycling all I2C devices. mission/sysDefs.h
268 14011 0x36bb I2C_REBOOT MEDIUM HIGH I2C is unavailable. Recovery did not work, performing full reboot. mission/sysDefs.h
269 14012 0x36bc PDEC_REBOOT MEDIUM HIGH PDEC recovery through reset was not possible, performing full reboot. mission/sysDefs.h
270 14100 0x3714 NO_VALID_SENSOR_TEMPERATURE MEDIUM No description mission/controller/tcsDefs.h
271 14101 0x3715 NO_HEALTHY_HEATER_AVAILABLE MEDIUM No description mission/controller/tcsDefs.h
272 14102 0x3716 SYRLINKS_OVERHEATING HIGH No description mission/controller/tcsDefs.h

35
generators/bsp_q7s_returnvalues.csv
View File

@ -583,7 +583,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x68b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x68b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x68c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x68c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x68c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x68c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h 0x6900;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
@ -592,21 +592,18 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a07;ACSMEKF_MekfNotFinite;No description;7;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a08;ACSMEKF_MekfInitialized;No description;8;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a09;ACSMEKF_MekfRunning;No description;9;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
0x6b01;ACSSAF_SafectrlMekfInputInvalid;No description;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h 0x6b00;SDMA_OpOngoing;No description;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6c01;ACSPTG_PtgctrlMekfInputInvalid;No description;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h 0x6b01;SDMA_AlreadyOn;No description;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6d01;ACSDTB_DetumbleNoSensordata;No description;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h 0x6b02;SDMA_AlreadyMounted;No description;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e00;SDMA_OpOngoing;No description;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b03;SDMA_AlreadyOff;No description;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e01;SDMA_AlreadyOn;No description;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0a;SDMA_StatusFileNexists;No description;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e02;SDMA_AlreadyMounted;No description;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0b;SDMA_StatusFileFormatInvalid;No description;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e03;SDMA_AlreadyOff;No description;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0c;SDMA_MountError;No description;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e0a;SDMA_StatusFileNexists;No description;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0d;SDMA_UnmountError;No description;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e0b;SDMA_StatusFileFormatInvalid;No description;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0e;SDMA_SystemCallError;No description;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e0c;SDMA_MountError;No description;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6b0f;SDMA_PopenCallError;No description;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6e0d;SDMA_UnmountError;No description;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6c00;LPH_SdNotReady;No description;0;LOCAL_PARAM_HANDLER;bsp_q7s/memory/LocalParameterHandler.h
0x6e0e;SDMA_SystemCallError;No description;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6d00;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x6e0f;SDMA_PopenCallError;No description;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h 0x6d01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x6f00;LPH_SdNotReady;No description;0;LOCAL_PARAM_HANDLER;bsp_q7s/memory/LocalParameterHandler.h 0x6e00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
0x7000;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h 0x7000;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
0x7001;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
0x7100;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
0x7300;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
583 0x68b5 SPVRTVIF_SupvHelperExecuting Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command) 181 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
584 0x68c0 SPVRTVIF_BufTooSmall No description 192 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
585 0x68c1 SPVRTVIF_NoReplyTimeout No description 193 SUPV_RETURN_VALUES_IF linux/payload/plocSupvDefs.h
586 0x6900 ACSCTRL_FileDeletionFailed No description File deletion failed and at least one file is still existent. 0 ACS_CTRL mission/controller/AcsController.h
587 0x6a02 ACSMEKF_MekfUninitialized No description 2 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
588 0x6a03 ACSMEKF_MekfNoGyrData No description 3 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
589 0x6a04 ACSMEKF_MekfNoModelVectors No description 4 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
592 0x6a07 ACSMEKF_MekfNotFinite No description 7 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
593 0x6a08 ACSMEKF_MekfInitialized No description 8 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
594 0x6a09 ACSMEKF_MekfRunning No description 9 ACS_MEKF mission/controller/acs/MultiplicativeKalmanFilter.h
595 0x6b01 0x6b00 ACSSAF_SafectrlMekfInputInvalid SDMA_OpOngoing No description 1 0 ACS_SAFE SD_CARD_MANAGER mission/controller/acs/control/SafeCtrl.h bsp_q7s/fs/SdCardManager.h
596 0x6c01 0x6b01 ACSPTG_PtgctrlMekfInputInvalid SDMA_AlreadyOn No description 1 ACS_PTG SD_CARD_MANAGER mission/controller/acs/control/PtgCtrl.h bsp_q7s/fs/SdCardManager.h
597 0x6d01 0x6b02 ACSDTB_DetumbleNoSensordata SDMA_AlreadyMounted No description 1 2 ACS_DETUMBLE SD_CARD_MANAGER mission/controller/acs/control/Detumble.h bsp_q7s/fs/SdCardManager.h
598 0x6e00 0x6b03 SDMA_OpOngoing SDMA_AlreadyOff No description 0 3 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
599 0x6e01 0x6b0a SDMA_AlreadyOn SDMA_StatusFileNexists No description 1 10 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
600 0x6e02 0x6b0b SDMA_AlreadyMounted SDMA_StatusFileFormatInvalid No description 2 11 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
601 0x6e03 0x6b0c SDMA_AlreadyOff SDMA_MountError No description 3 12 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
602 0x6e0a 0x6b0d SDMA_StatusFileNexists SDMA_UnmountError No description 10 13 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
603 0x6e0b 0x6b0e SDMA_StatusFileFormatInvalid SDMA_SystemCallError No description 11 14 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
604 0x6e0c 0x6b0f SDMA_MountError SDMA_PopenCallError No description 12 15 SD_CARD_MANAGER bsp_q7s/fs/SdCardManager.h
605 0x6e0d 0x6c00 SDMA_UnmountError LPH_SdNotReady No description 13 0 SD_CARD_MANAGER LOCAL_PARAM_HANDLER bsp_q7s/fs/SdCardManager.h bsp_q7s/memory/LocalParameterHandler.h
606 0x6e0e 0x6d00 SDMA_SystemCallError PTM_DumpDone No description 14 0 SD_CARD_MANAGER PERSISTENT_TM_STORE bsp_q7s/fs/SdCardManager.h mission/tmtc/PersistentTmStore.h
607 0x6e0f 0x6d01 SDMA_PopenCallError PTM_BusyDumping No description 15 1 SD_CARD_MANAGER PERSISTENT_TM_STORE bsp_q7s/fs/SdCardManager.h mission/tmtc/PersistentTmStore.h
608 0x6f00 0x6e00 LPH_SdNotReady TMS_IsBusy No description 0 LOCAL_PARAM_HANDLER TM_SINK bsp_q7s/memory/LocalParameterHandler.h mission/tmtc/DirectTmSinkIF.h
609 0x7000 PTM_DumpDone SCBU_KeyNotFound No description 0 PERSISTENT_TM_STORE SCRATCH_BUFFER mission/tmtc/PersistentTmStore.h bsp_q7s/memory/scratchApi.h
0x7001 PTM_BusyDumping No description 1 PERSISTENT_TM_STORE mission/tmtc/PersistentTmStore.h
0x7100 TMS_IsBusy No description 0 TM_SINK mission/tmtc/DirectTmSinkIF.h
0x7300 SCBU_KeyNotFound No description 0 SCRATCH_BUFFER bsp_q7s/memory/scratchApi.h

9
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 289 translations. * @brief Auto-generated event translation file. Contains 290 translations.
* @details * @details
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@ -482,8 +483,10 @@ const char *translateEvents(Event event) {
case (11204): case (11204):
return MEKF_RECOVERY_STRING; return MEKF_RECOVERY_STRING;
case (11205): case (11205):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_AUTOMATIC_RESET_STRING;
case (11206): case (11206):
return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11207):
return SAFE_MODE_CONTROLLER_FAILURE_STRING; return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;

2
generators/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 175 translations. * Contains 175 translations.
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateObjects.h" #include "translateObjects.h"

9
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/** /**
* @brief Auto-generated event translation file. Contains 289 translations. * @brief Auto-generated event translation file. Contains 290 translations.
* @details * @details
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateEvents.h" #include "translateEvents.h"
@ -97,6 +97,7 @@ const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
@ -482,8 +483,10 @@ const char *translateEvents(Event event) {
case (11204): case (11204):
return MEKF_RECOVERY_STRING; return MEKF_RECOVERY_STRING;
case (11205): case (11205):
return MEKF_INVALID_MODE_VIOLATION_STRING; return MEKF_AUTOMATIC_RESET_STRING;
case (11206): case (11206):
return MEKF_INVALID_MODE_VIOLATION_STRING;
case (11207):
return SAFE_MODE_CONTROLLER_FAILURE_STRING; return SAFE_MODE_CONTROLLER_FAILURE_STRING;
case (11300): case (11300):
return SWITCH_CMD_SENT_STRING; return SWITCH_CMD_SENT_STRING;

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file. * @brief Auto-generated object translation file.
* @details * @details
* Contains 175 translations. * Contains 175 translations.
* Generated on: 2023-04-14 20:05:50 * Generated on: 2023-04-14 20:23:17
*/ */
#include "translateObjects.h" #include "translateObjects.h"

41
mission/acs/defs.h
View File

@ -8,7 +8,7 @@ namespace acs {
enum class SimpleSensorMode { NORMAL = 0, OFF = 1 }; enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
// These modes are the submodes of the ACS controller and the modes of the ACS subsystem. // These modes are the modes of the ACS controller and of the ACS subsystem.
enum AcsMode : Mode_t { enum AcsMode : Mode_t {
OFF = HasModesIF::MODE_OFF, OFF = HasModesIF::MODE_OFF,
SAFE = 10, SAFE = 10,
@ -21,23 +21,40 @@ enum AcsMode : Mode_t {
enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 }; enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };
// static constexpr uint8_t ACS_SYSTEM_DETUMBLE_SUBMODE = 1; enum SafeModeStrategy : uint8_t {
SAFECTRL_OFF = 0,
SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
SAFECTRL_ACTIVE_MEKF = 10,
SAFECTRL_WITHOUT_MEKF = 11,
SAFECTRL_ECLIPSE_DAMPING = 12,
SAFECTRL_ECLIPSE_IDELING = 13,
SAFECTRL_DETUMBLE_FULL = 20,
SAFECTRL_DETUMBLE_DETERIORATED = 21,
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//!< The limits for the rotation in safe mode were violated. //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM); static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//!< The system has recovered from a safe rate rotation violation. //! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
//!< Multiple RWs are invalid, not commandable and therefore higher ACS modes cannot be maintained. //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
//! cannot be maintained.
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH); static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
//!< MEKF was not able to compute a solution. //! [EXPORT] : [COMMENT] MEKF was not able to compute a solution.
//! P1: MEKF state on exit
static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO); static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
//!< MEKF is able to compute a solution again. //! [EXPORT] : [COMMENT] MEKF is able to compute a solution again.
static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO); static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time. //! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values.
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH); static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO);
//!< The ACS safe mode controller was not able to compute a solution and has failed. //! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH); //! prolonged time.
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH);
//! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has
//! failed.
//! P1: Missing information about magnetic field, P2: Missing information about rotational rate
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
extern const char* getModeStr(AcsMode mode); extern const char* getModeStr(AcsMode mode);

169
mission/controller/AcsController.cpp
View File

@ -151,49 +151,60 @@ void AcsController::performSafe() {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true; mekfInvalidFlag = true;
} }
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData); navigation.resetMekf(&mekfData);
mekfLost = true; mekfLost = true;
} }
} else { } else if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
// get desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0}; // get desired satellite rate, sun direction to align to and inertia
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe); double sunTargetDir[3] = {0, 0, 0};
// if MEKF is working guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) { uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
result = safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(), mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
mgmDataProcessed.magIgrfModel.value, gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
mgmDataProcessed.magIgrfModel.isValid(), acsParameters.safeModeControllerParameters.useMekf,
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(), acsParameters.safeModeControllerParameters.dampingDuringEclipse);
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(), switch (safeCtrlStrat) {
sunTargetDir, satRateSafe, &errAng, magMomMtq); case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
} else { safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
result = safeCtrl.safeNoMekf( susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(), magMomMtq, errAng);
susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq);
}
if (result == returnvalue::FAILED) {
if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
safeCtrlFailureFlag = true;
}
safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 150) {
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0; safeCtrlFailureCounter = 0;
} break;
} else { case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
safeCtrlFailureFlag = false; safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
safeCtrlFailureCounter = 0; susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
errAng = NAN;
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
@ -201,7 +212,7 @@ void AcsController::performSafe() {
acsParameters.magnetorquerParameter.dipolMax); acsParameters.magnetorquerParameter.dipolMax);
// detumble check and switch // detumble check and switch
if (mekfData.satRotRateMekf.isValid() && if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) > VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++; detumbleCounter++;
@ -219,10 +230,10 @@ void AcsController::performSafe() {
startTransition(mode, acs::SafeSubmode::DETUMBLE); startTransition(mode, acs::SafeSubmode::DETUMBLE);
} }
updateCtrlValData(errAng); updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipolMtqs); updateActuatorCmdData(cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquerParameter.torqueDuration); acsParameters.magnetorquerParameter.torqueDuration);
} }
void AcsController::performDetumble() { void AcsController::performDetumble() {
@ -236,20 +247,40 @@ void AcsController::performDetumble() {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true; mekfInvalidFlag = true;
} }
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData); navigation.resetMekf(&mekfData);
mekfLost = true;
} }
} else { } else if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
uint8_t safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw);
double magMomMtq[3] = {0, 0, 0}; double magMomMtq[3] = {0, 0, 0};
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, switch (safeCtrlStrat) {
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value, case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL):
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq, detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value,
acsParameters.detumbleParameter.gainD); magMomMtq, acsParameters.detumbleParameter.gainFull);
break;
case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value,
magMomMtq, acsParameters.detumbleParameter.gainBdot);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1);
break;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment, *acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax); acsParameters.magnetorquerParameter.dipolMax);
@ -274,9 +305,8 @@ void AcsController::performDetumble() {
disableCtrlValData(); disableCtrlValData();
updateActuatorCmdData(cmdDipolMtqs); updateActuatorCmdData(cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration);
// acsParameters.rwHandlingParameters.rampTime);
} }
void AcsController::performPointingCtrl() { void AcsController::performPointingCtrl() {
@ -291,21 +321,22 @@ void AcsController::performPointingCtrl() {
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++; mekfInvalidCounter++;
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true; mekfInvalidFlag = true;
} }
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData); navigation.resetMekf(&mekfData);
mekfLost = true;
} }
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) { if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty. // Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
mekfInvalidCounter = 0; mekfInvalidCounter = 0;
} }
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
// cmdSpeedRws[0], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], acsParameters.rwHandlingParameters.rampTime);
// acsParameters.rwHandlingParameters.rampTime);
return; return;
} else { } else {
if (mekfInvalidFlag) { if (mekfInvalidFlag) {
@ -465,10 +496,22 @@ void AcsController::performPointingCtrl() {
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate); updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs); updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0], acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime); acsParameters.rwHandlingParameters.rampTime);
}
void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);
safeCtrlFailureFlag = true;
}
safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 150) {
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
}
} }
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole, ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
@ -529,17 +572,19 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
} }
} }
void AcsController::updateCtrlValData(double errAng) { void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
PoolReadGuard pg(&ctrlValData); PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double)); std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false); ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double)); std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false); ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng; ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true); ctrlValData.errAng.setValid(true);
std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double)); std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
ctrlValData.tgtRotRate.setValid(false); ctrlValData.tgtRotRate.setValid(false);
ctrlValData.safeStrat.value = safeModeStrat;
ctrlValData.safeStrat.setValid(true);
ctrlValData.setValidity(true, false); ctrlValData.setValidity(true, false);
} }
} }
@ -552,6 +597,7 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double)); std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
ctrlValData.errAng.value = errAng; ctrlValData.errAng.value = errAng;
std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double)); std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
ctrlValData.safeStrat.value = acs::SafeModeStrategy::SAFECTRL_OFF;
ctrlValData.setValidity(true, true); ctrlValData.setValidity(true, true);
} }
} }
@ -559,10 +605,10 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
void AcsController::disableCtrlValData() { void AcsController::disableCtrlValData() {
PoolReadGuard pg(&ctrlValData); PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double)); std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double)); std::memcpy(ctrlValData.errQuat.value, ZERO_VEC4, 4 * sizeof(double));
ctrlValData.errAng.value = 0; ctrlValData.errAng.value = 0;
std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC, 3 * sizeof(double)); std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
ctrlValData.setValidity(false, true); ctrlValData.setValidity(false, true);
} }
} }
@ -644,6 +690,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus); localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0}); poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
// Ctrl Values // Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat); localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat); localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng); localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);

31
mission/controller/AcsController.h
View File

@ -12,18 +12,17 @@
#include <mission/acs/imtqHelpers.h> #include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h> #include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h> #include <mission/acs/susMax1227Helpers.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/Navigation.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/control/Detumble.h>
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/utility/trace.h> #include <mission/utility/trace.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/MultiplicativeKalmanFilter.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "acs/control/SafeCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF { class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public: public:
static constexpr dur_millis_t INIT_DELAY = 500; static constexpr dur_millis_t INIT_DELAY = 500;
@ -41,9 +40,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void performPointingCtrl(); void performPointingCtrl();
private: private:
static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1}; static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC[3] = {0, 0, 0}; static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0}; static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0}; static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false; bool enableHkSets = false;
@ -85,6 +84,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2; static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL; static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0); static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
@ -105,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode); void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive); void announceMode(bool recursive);
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole, ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration); uint16_t dipoleTorqueDuration);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole, ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
@ -113,7 +115,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void updateActuatorCmdData(const int16_t* mtqTargetDipole); void updateActuatorCmdData(const int16_t* mtqTargetDipole);
void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed, void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
const int16_t* mtqTargetDipole); const int16_t* mtqTargetDipole);
void updateCtrlValData(double errAng); void updateCtrlValData(double errAng, uint8_t safeModeStrat);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng, void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
const double* tgtRotRate); const double* tgtRotRate);
void disableCtrlValData(); void disableCtrlValData();
@ -212,6 +214,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
// Ctrl Values // Ctrl Values
acsctrl::CtrlValData ctrlValData; acsctrl::CtrlValData ctrlValData;
PoolEntry<uint8_t> safeStrat = PoolEntry<uint8_t>();
PoolEntry<double> tgtQuat = PoolEntry<double>(4); PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4); PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>(); PoolEntry<double> errAng = PoolEntry<double>();

46
mission/controller/acs/AcsParameters.cpp
View File

@ -33,18 +33,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x2: // InertiaEIVE case 0x2: // InertiaEIVE
switch (parameterId) { switch (parameterId) {
case 0x0: case 0x0:
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrix);
break;
case 0x1:
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixDeployed); parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixDeployed);
break; break;
case 0x2: case 0x1:
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixUndeployed); parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixUndeployed);
break; break;
case 0x3: case 0x2:
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel1); parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel1);
break; break;
case 0x4: case 0x3:
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel3); parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel3);
break; break;
default: default:
@ -107,6 +104,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x11: case 0x11:
parameterWrapper->setVector(mgmHandlingParameters.mgm4variance); parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
break; break;
case 0x12:
parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
} }
@ -260,6 +260,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0xA: case 0xA:
parameterWrapper->set(gyrHandlingParameters.preferAdis); parameterWrapper->set(gyrHandlingParameters.preferAdis);
break; break;
case 0xB:
parameterWrapper->set(gyrHandlingParameters.gyrFilterWeight);
break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
} }
@ -321,28 +324,34 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x8): // SafeModeControllerParameters case (0x8): // SafeModeControllerParameters
switch (parameterId) { switch (parameterId) {
case 0x0: case 0x0:
parameterWrapper->set(safeModeControllerParameters.k_rate_mekf); parameterWrapper->set(safeModeControllerParameters.k_orthoMekf);
break; break;
case 0x1: case 0x1:
parameterWrapper->set(safeModeControllerParameters.k_align_mekf); parameterWrapper->set(safeModeControllerParameters.k_alignMekf);
break; break;
case 0x2: case 0x2:
parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf); parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
break; break;
case 0x3: case 0x3:
parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf); parameterWrapper->set(safeModeControllerParameters.k_orthoNonMekf);
break; break;
case 0x4: case 0x4:
parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin); parameterWrapper->set(safeModeControllerParameters.k_alignNonMekf);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop); parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
break; break;
case 0x6: case 0x6:
parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir); parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
break; break;
case 0x7: case 0x7:
parameterWrapper->setVector(safeModeControllerParameters.satRateRef); parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
break;
case 0x8:
parameterWrapper->set(safeModeControllerParameters.useMekf);
break;
case 0x9:
parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
break; break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
@ -377,7 +386,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x8: case 0x8:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction); parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break; break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
} }
@ -703,7 +711,13 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(detumbleParameter.omegaDetumbleEnd); parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
break; break;
case 0x3: case 0x3:
parameterWrapper->set(detumbleParameter.gainD); parameterWrapper->set(detumbleParameter.gainBdot);
break;
case 0x4:
parameterWrapper->set(detumbleParameter.gainFull);
break;
case 0x5:
parameterWrapper->set(detumbleParameter.useFullDetumbleLaw);
break; break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;

62
mission/controller/acs/AcsParameters.h
View File

@ -22,22 +22,27 @@ class AcsParameters : public HasParametersIF {
} onBoardParams; } onBoardParams;
struct InertiaEIVE { struct InertiaEIVE {
double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135}, /* Possible inertia matrices
{-0.0001821456, 0.1701302, 0.0004748963}, * 2023-04-14
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021 * all matrices derived from the CAD model with CAD mass of 8.72 kg
// Possible inertia matrices * all matrices are scaled by final measured mass of 8.756 kg
double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135}, * all matrices are in [kg m^2]
{-0.0001821456, 0.1701302, 0.0004748963}, */
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021 double inertiaMatrixDeployed[3][3] = {
double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008}, {0.128333461640235, -0.000151805020803, -0.004178414952517},
{-0.0001798426, 0.162240, 0.000475596}, {-0.000151805020803, 0.141791062870050, 0.000395791231451},
{-0.005008, 0.000475596, 0.060136}}; // 19.11.2021 {-0.004178414952517, 0.000395791231451, 0.069793610830099}};
double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207}, double inertiaMatrixUndeployed[3][3] = {
{-0.0001836122, 0.16619787, 0.0083537}, {0.102082611845982, -0.000149885620646, -0.004174050971653},
{-0.00501207, 0.0083537, 0.07192588}}; // 19.11.2021 {-0.000149885620646, 0.135214836333048, 0.000396374487363},
double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767}, {-0.004174050971653, 0.000396374487363, 0.050118987572848}};
{-0.000178376, 0.166172, -0.007403}, double inertiaMatrixPanel1[3][3] = {{0.115207454653725, -0.000153027308288, -0.004177193002842},
{-0.005009767, -0.007403, 0.07195314}}; {-0.000153027308288, 0.138513727361148, 0.006962185987503},
{-0.004177193002842, 0.006962185987503, 0.059944939352491}};
double inertiaMatrixPanel3[3][3] = {
{0.115208618832493, -0.000148663333161, -0.004175272921328},
{-0.000148663333161, 0.138492171841952, -0.006170020268690},
{-0.004175272921328, -0.006170020268690, 0.059967659050454}};
} inertiaEIVE; } inertiaEIVE;
struct MgmHandlingParameters { struct MgmHandlingParameters {
@ -72,6 +77,7 @@ class AcsParameters : public HasParametersIF {
float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)}; float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)}; float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)}; float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
float mgmDerivativeFilterWeight = 0.5;
} mgmHandlingParameters; } mgmHandlingParameters;
struct SusHandlingParameters { struct SusHandlingParameters {
@ -779,7 +785,8 @@ class AcsParameters : public HasParametersIF {
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)}; float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = true; uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;
} gyrHandlingParameters; } gyrHandlingParameters;
struct RwHandlingParameters { struct RwHandlingParameters {
@ -811,18 +818,19 @@ class AcsParameters : public HasParametersIF {
} rwMatrices; } rwMatrices;
struct SafeModeControllerParameters { struct SafeModeControllerParameters {
double k_rate_mekf = 0.00059437; double k_orthoMekf = 4.4e-3;
double k_align_mekf = 0.000056875; double k_alignMekf = 4.0e-5;
double k_parallelMekf = 3.75e-4;
double k_rate_no_mekf = 0.00059437; double k_orthoNonMekf = 4.4e-3;
double k_align_no_mekf = 0.000056875; double k_alignNonMekf = 4.0e-5;
double k_parallelNonMekf = 3.75e-4;
double sunMagAngleMin = 5 * M_PI / 180;
double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)}; double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
double sunTargetDir[3] = {0, 0, 1}; double sunTargetDir[3] = {0, 0, 1};
double satRateRef[3] = {0, 0, 0}; uint8_t useMekf = false;
uint8_t dampingDuringEclipse = true;
} safeModeControllerParameters; } safeModeControllerParameters;
struct PointingLawParameters { struct PointingLawParameters {
@ -931,8 +939,10 @@ class AcsParameters : public HasParametersIF {
struct DetumbleParameter { struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180; double omegaDetumbleStart = 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180; double omegaDetumbleEnd = 1 * M_PI / 180;
double gainD = pow(10.0, -3.3); double gainBdot = pow(10.0, -3.3);
double gainFull = pow(10.0, -2.3);
uint8_t useFullDetumbleLaw = false;
} detumbleParameter; } detumbleParameter;
}; };

4
mission/controller/acs/Guidance.cpp
View File

@ -539,7 +539,7 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
} }
} }
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) { void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
std::error_code e; std::error_code e;
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) { not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
@ -549,8 +549,6 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDirLeop, std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDirLeop,
3 * sizeof(double)); 3 * sizeof(double));
} }
std::memcpy(satRateSafe, acsParameters->safeModeControllerParameters.satRateRef,
3 * sizeof(double));
} }
ReturnValue_t Guidance::solarArrayDeploymentComplete() { ReturnValue_t Guidance::solarArrayDeploymentComplete() {

2
mission/controller/acs/Guidance.h
View File

@ -12,7 +12,7 @@ class Guidance {
Guidance(AcsParameters *acsParameters_); Guidance(AcsParameters *acsParameters_);
virtual ~Guidance(); virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]); void getTargetParamsSafe(double sunTargetSafe[3]);
ReturnValue_t solarArrayDeploymentComplete(); ReturnValue_t solarArrayDeploymentComplete();
// Function to get the target quaternion and refence rotation rate from gps position and // Function to get the target quaternion and refence rotation rate from gps position and

6
mission/controller/acs/MultiplicativeKalmanFilter.cpp
View File

@ -1105,11 +1105,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
{ {
PoolReadGuard pg(mekfData); PoolReadGuard pg(mekfData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
double unitQuat[4] = {0.0, 0.0, 0.0, 1.0}; std::memcpy(mekfData->quatMekf.value, ZERO_VEC4, 4 * sizeof(double));
double zeroVec[3] = {0.0, 0.0, 0.0};
std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
mekfData->quatMekf.setValid(false); mekfData->quatMekf.setValid(false);
std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double)); std::memcpy(mekfData->satRotRateMekf.value, ZERO_VEC3, 3 * sizeof(double));
mekfData->satRotRateMekf.setValid(false); mekfData->satRotRateMekf.setValid(false);
mekfData->mekfStatus = mekfStatus; mekfData->mekfStatus = mekfStatus;
mekfData->setValidity(true, false); mekfData->setValidity(true, false);

3
mission/controller/acs/MultiplicativeKalmanFilter.h
View File

@ -80,6 +80,9 @@ class MultiplicativeKalmanFilter {
static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9); static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9);
private: private:
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
/*Parameters*/ /*Parameters*/
double quaternion_STR_SB[4]; double quaternion_STR_SB[4];

26
mission/controller/acs/SensorProcessing.cpp
View File

@ -141,7 +141,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0}; double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
bool mgmVecTotDerivativeValid = false; bool mgmVecTotDerivativeValid = false;
double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst); double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
if (timeOfSavedMagFieldEst.tv_sec != 0) { if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0) {
for (uint8_t i = 0; i < 3; i++) { for (uint8_t i = 0; i < 3; i++) {
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff; mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
savedMgmVecTot[i] = mgmVecTot[i]; savedMgmVecTot[i] = mgmVecTot[i];
@ -150,6 +150,11 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
} }
timeOfSavedMagFieldEst = timeOfMgmMeasurement; timeOfSavedMagFieldEst = timeOfMgmMeasurement;
if (mgmDataProcessed->mgmVecTotDerivative.isValid()) {
lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
mgmParameters->mgmDerivativeFilterWeight);
}
{ {
PoolReadGuard pg(mgmDataProcessed); PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
@ -389,7 +394,7 @@ void SensorProcessing::processSus(
double susVecTotDerivative[3] = {0.0, 0.0, 0.0}; double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
bool susVecTotDerivativeValid = false; bool susVecTotDerivativeValid = false;
double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst); double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
if (timeOfSavedSusDirEst.tv_sec != 0) { if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0) {
for (uint8_t i = 0; i < 3; i++) { for (uint8_t i = 0; i < 3; i++) {
susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff; susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
savedSusVecTot[i] = susVecTot[i]; savedSusVecTot[i] = susVecTot[i];
@ -527,6 +532,11 @@ void SensorProcessing::processGyr(
gyrVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i]; gyrVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
} }
} }
if (gyrDataProcessed->gyrVecTot.isValid()) {
lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
}
{ {
PoolReadGuard pg(gyrDataProcessed); PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
@ -571,8 +581,9 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
// Calculation of the satellite velocity in earth fixed frame // Calculation of the satellite velocity in earth fixed frame
double deltaDistance[3] = {0, 0, 0}; double deltaDistance[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE); MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE);
if (validSavedPosSatE && if (validSavedPosSatE and
(gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) { (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and
(gpsUnixSeconds - timeOfSavedPosSatE) > 0) {
VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3); VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE; double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3); VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
@ -656,3 +667,10 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now, sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
&acsParameters->gyrHandlingParameters, gyrDataProcessed); &acsParameters->gyrHandlingParameters, gyrDataProcessed);
} }
void SensorProcessing::lowPassFilter(double *newValue, double *oldValue, const double weight) {
double leftSide[3] = {0, 0, 0}, rightSide[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(newValue, (1 - weight), leftSide, 3);
VectorOperations<double>::mulScalar(oldValue, weight, rightSide, 3);
VectorOperations<double>::add(leftSide, rightSide, newValue, 3);
}

6
mission/controller/acs/SensorProcessing.h
View File

@ -13,8 +13,6 @@
class SensorProcessing { class SensorProcessing {
public: public:
void reset();
SensorProcessing(); SensorProcessing();
virtual ~SensorProcessing(); virtual ~SensorProcessing();
@ -59,13 +57,13 @@ class SensorProcessing {
const AcsParameters::GyrHandlingParameters *gyrParameters, const AcsParameters::GyrHandlingParameters *gyrParameters,
acsctrl::GyrDataProcessed *gyrDataProcessed); acsctrl::GyrDataProcessed *gyrDataProcessed);
void processStr();
void processGps(const double gpsLatitude, const double gpsLongitude, const double gpsAltitude, void processGps(const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
const double gpsUnixSeconds, const bool validGps, const double gpsUnixSeconds, const bool validGps,
const AcsParameters::GpsParameters *gpsParameters, const AcsParameters::GpsParameters *gpsParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed); acsctrl::GpsDataProcessed *gpsDataProcessed);
void lowPassFilter(double *newValue, double *oldValue, const double weight);
double savedMgmVecTot[3] = {0.0, 0.0, 0.0}; double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
timeval timeOfSavedMagFieldEst; timeval timeOfSavedMagFieldEst;
double savedSusVecTot[3] = {0.0, 0.0, 0.0}; double savedSusVecTot[3] = {0.0, 0.0, 0.0};

74
mission/controller/acs/control/Detumble.cpp
View File

@ -1,61 +1,45 @@
#include "Detumble.h" #include "Detumble.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/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h> #include <math.h>
#include "../util/MathOperations.h"
Detumble::Detumble() {} Detumble::Detumble() {}
Detumble::~Detumble() {} Detumble::~Detumble() {}
ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid, uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const double *magField, const bool magFieldValid, double *magMom, const bool magFieldRateValid, const bool useFullDetumbleLaw) {
double gain) { if (not magFieldValid) {
if (!magRateValid || !magFieldValid) { return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
return DETUMBLE_NO_SENSORDATA; } else if (satRotRateValid and useFullDetumbleLaw) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
} else if (magFieldRateValid) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
} }
// convert uT to T
double magFieldT[3], magRateT[3];
VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
// control law
double factor = -gain / pow(VectorOperations<double>::norm(magFieldT, 3), 2);
VectorOperations<double>::mulScalar(magRateT, factor, magMom, 3);
return returnvalue::OK;
} }
ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid, double *magMom, void Detumble::bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
double dipolMax) { double gain) {
if (!magRateValid) {
return DETUMBLE_NO_SENSORDATA;
}
for (int i = 0; i < 3; i++) {
magMom[i] = -dipolMax * sign(magRate[i]);
}
return returnvalue::OK;
}
ReturnValue_t Detumble::bDotLawFull(const double *satRate, const bool *satRateValid,
const double *magField, const bool *magFieldValid,
double *magMom, double gain) {
if (!satRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
// convert uT to T // convert uT to T
double magFieldT[3]; double magFieldBT[3];
VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// control law // control law
double factor = gain / pow(VectorOperations<double>::norm(magField, 3), 2); double factor = gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0}; double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldT, magFieldNormed, 3); VectorOperations<double>::normalize(magFieldBT, magFieldNormed, 3);
VectorOperations<double>::cross(satRate, magFieldNormed, crossProduct); VectorOperations<double>::cross(satRotRateB, magFieldNormed, crossProduct);
VectorOperations<double>::mulScalar(crossProduct, factor, magMom, 3); VectorOperations<double>::mulScalar(crossProduct, factor, magMomB, 3);
return returnvalue::OK; }
void Detumble::bDotLaw(const double *magRateB, const double *magFieldB, double *magMomB,
double gain) {
// convert uT to T
double magFieldBT[3], magRateBT[3];
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
VectorOperations<double>::mulScalar(magRateB, 1e-6, magRateBT, 3);
// control law
double factor = -gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(magRateBT, factor, magMomB, 3);
} }

20
mission/controller/acs/control/Detumble.h
View File

@ -2,30 +2,22 @@
#define ACS_CONTROL_DETUMBLE_H_ #define ACS_CONTROL_DETUMBLE_H_
#include <fsfw/returnvalues/returnvalue.h> #include <fsfw/returnvalues/returnvalue.h>
#include <mission/acs/defs.h>
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "eive/resultClassIds.h"
class Detumble { class Detumble {
public: public:
Detumble(); Detumble();
virtual ~Detumble(); virtual ~Detumble();
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_DETUMBLE; uint8_t detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01); const bool magFieldRateValid, const bool useFullDetumbleLaw);
ReturnValue_t bDotLaw(const double *magRate, const bool magRateValid, const double *magField, void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
const bool magFieldValid, double *magMom, double gain); double gain);
ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom, void bDotLaw(const double *magRateB, const double *magFieldB, double *magMomB, double gain);
double dipolMax);
ReturnValue_t bDotLawFull(const double *satRate, const bool *satRateValid, const double *magField,
const bool *magFieldValid, double *magMom, double gain);
private: private:
}; };

11
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -49,8 +49,9 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
gainMatrixDiagonal[0][0] = gainVector[0]; gainMatrixDiagonal[0][0] = gainVector[0];
gainMatrixDiagonal[1][1] = gainVector[1]; gainMatrixDiagonal[1][1] = gainVector[1];
gainMatrixDiagonal[2][2] = gainVector[2]; gainMatrixDiagonal[2][2] = gainVector[2];
MatrixOperations<double>::multiply( MatrixOperations<double>::multiply(*gainMatrixDiagonal,
*gainMatrixDiagonal, *(acsParameters->inertiaEIVE.inertiaMatrix), *gainMatrix, 3, 3, 3); *(acsParameters->inertiaEIVE.inertiaMatrixDeployed),
*gainMatrix, 3, 3, 3);
// Inverse of gainMatrix // Inverse of gainMatrix
double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -60,7 +61,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply( MatrixOperations<double>::multiply(
*gainMatrixInverse, *(acsParameters->inertiaEIVE.inertiaMatrix), *pMatrix, 3, 3, 3); *gainMatrixInverse, *(acsParameters->inertiaEIVE.inertiaMatrixDeployed), *pMatrix, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3); MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);
//------------------------------------------------------------------------------------------------ //------------------------------------------------------------------------------------------------
@ -85,7 +86,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
// torque for rate error // torque for rate error
double torqueRate[3] = {0, 0, 0}; double torqueRate[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrix), deltaRate, MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), deltaRate,
torqueRate, 3, 3, 1); torqueRate, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3); VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3); VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
@ -116,7 +117,7 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), momentumRwU, MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), momentumRwU,
momentumRw, 3, 4, 1); momentumRw, 3, 4, 1);
double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0}; double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrix), satRate, MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
momentumSat, 3, 3, 1); momentumSat, 3, 3, 1);
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3); VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error // calculating momentum error

3
mission/controller/acs/control/PtgCtrl.h
View File

@ -24,9 +24,6 @@ class PtgCtrl {
PtgCtrl(AcsParameters *acsParameters_); PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl(); virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Calculates the needed torque for the pointing control mechanism /* @brief: Calculates the needed torque for the pointing control mechanism
*/ */
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError, void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,

250
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -1,158 +1,136 @@
#include "SafeCtrl.h" #include "SafeCtrl.h"
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h> #include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h> #include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h> #include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h> #include <math.h>
#include "../util/MathOperations.h"
SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; } SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
SafeCtrl::~SafeCtrl() {} SafeCtrl::~SafeCtrl() {}
ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid, uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
double *magFieldModel, bool magFieldModelValid, const bool satRotRateValid, const bool sunDirValid,
double *sunDirModel, bool sunDirModelValid, double *satRateMekf, const uint8_t mekfEnabled, const uint8_t dampingEnabled) {
bool rateMekfValid, double *sunDirRef, double *satRatRef, if (not magFieldValid) {
double *outputAngle, double *outputMagMomB) { return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) { } else if (mekfEnabled and mekfValid) {
return SAFECTRL_MEKF_INPUT_INVALID; return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
} else if (dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
} }
double kRate = acsParameters->safeModeControllerParameters.k_rate_mekf;
double kAlign = acsParameters->safeModeControllerParameters.k_align_mekf;
// Calc sunDirB ,magFieldB with mekf output and model
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
// change unit from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
double crossSun[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
// calc angle alpha between sunDirRef and sunDIr
double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
double alpha = acos(dotSun);
// Law Torque calculations
double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
torqueAll[3] = {0, 0, 0};
double scalarFac = kAlign * alpha / normCrossSun;
VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
double rateSafeMode[3] = {0, 0, 0};
VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
// Adding factor of inertia for axes
MatrixOperations<double>::multiplyScalar(*(acsParameters->inertiaEIVE.inertiaMatrix), 10,
*gainMatrixInertia, 3,
3); // why only for mekf one and not for no mekf
MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
// MagMom B (orthogonal torque)
double torqueMgt[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
double normMag = VectorOperations<double>::norm(magFieldB, 3);
VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
*outputAngle = alpha;
return returnvalue::OK;
} }
// Will be the version in worst case scenario in event of no working MEKF (nor GYRs) void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, const double *sunDirModelI, const double *quatBI, const double *sunDirRefB,
double *sunRateB, bool sunRateBValid, double *magFieldB, double *magMomB, double &errorAngle) {
bool magFieldBValid, double *magRateB, bool magRateBValid, // convert magFieldB from uT to T
double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
return returnvalue::FAILED;
}
// change unit from uT to T
double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// normalize sunDir and magDir // convert sunDirModel to body rf
double magDirB[3] = {0, 0, 0}; double sunDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldBT, magDirB, 3); QuaternionOperations::multiplyVector(quatBI, sunDirModelI, sunDirB);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir // calculate angle alpha between sunDirRef and sunDir
double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB); double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
errorAngle = acos(dotSun);
// Rate parallel to sun direction and magnetic field direction splitRotationalRate(satRotRateB, sunDirB);
double dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB); calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
double dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB); acsParameters->safeModeControllerParameters.k_parallelMekf,
double rateFactor = 1 - pow(cosAngleSunMag, 2); acsParameters->safeModeControllerParameters.k_orthoMekf);
double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor; calculateAngleErrorTorque(sunDirB, sunDirRefB,
double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor; acsParameters->safeModeControllerParameters.k_alignMekf);
// Full rate or estimate // sum of all torques
double estSatRate[3] = {0, 0, 0}; for (uint8_t i = 0; i < 3; i++) {
double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0}; cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
/* Only valid if angle between sun direction and magnetic field direction
* is sufficiently large */
double angleSunMag = acos(cosAngleSunMag);
if (angleSunMag < acsParameters->safeModeControllerParameters.sunMagAngleMin) {
return returnvalue::FAILED;
} }
// Rate for Torque Calculation calculateMagneticMoment(magMomB);
double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */ }
VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
// Torque Align calculation const double *sunDirB, const double *sunDirRefB, double *magMomB,
double kRateNoMekf = acsParameters->safeModeControllerParameters.k_rate_no_mekf; double &errorAngle) {
double kAlignNoMekf = acsParameters->safeModeControllerParameters.k_align_no_mekf; // convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
double crossSusSunRef[3] = {0, 0, 0}; // calculate error angle between sunDirRef and sunDir
VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef); double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3); errorAngle = acos(dotSun);
double torqueAlign[3] = {0, 0, 0}; splitRotationalRate(satRotRateB, sunDirB);
double angleAlignErr = acos(cosAngleAlignErr); calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr; acsParameters->safeModeControllerParameters.k_parallelNonMekf,
VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3); acsParameters->safeModeControllerParameters.k_orthoNonMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
// Torque Rate Calculations acsParameters->safeModeControllerParameters.k_alignNonMekf);
double torqueRate[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3); // sum of all torques
for (uint8_t i = 0; i < 3; i++) {
// Final torque cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0}; }
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrix), torqueAlignRate, calculateMagneticMoment(magMomB);
torqueB, 3, 3, 1); }
// Magnetic moment void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
double magMomB[3] = {0, 0, 0}; const double *sunDirRefB, double *magMomB, double &errorAngle) {
double crossMagFieldTorque[3] = {0, 0, 0}; // convert magFieldB from uT to T
VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque); VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3); // no error angle available for eclipse
errorAngle = NAN;
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
*outputAngle = angleAlignErr; splitRotationalRate(satRotRateB, sunDirRefB);
return returnvalue::OK; calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
// sum of all torques
double cmdTorque[3] = {0, 0, 0};
VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
// calculate magnetic moment to command
calculateMagneticMoment(magMomB);
}
void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunDirB) {
// split rotational rate into parallel and orthogonal parts
double parallelLength = VectorOperations<double>::dot(satRotRateB, sunDirB) *
pow(VectorOperations<double>::norm(sunDirB, 3), -2);
VectorOperations<double>::mulScalar(sunDirB, parallelLength, satRotRateParallelB, 3);
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
}
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
double &errorAngle, const double gainParallel,
const double gainOrtho) {
// calculate torque for parallel rotational rate
VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
// calculate torque for orthogonal rotational rate
VectorOperations<double>::mulScalar(satRotRateOrthogonalB, -gainOrtho, cmdOrtho, 3);
}
void SafeCtrl::calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign) {
// calculate torque for alignment
double crossAlign[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRefB, sunDirB, crossAlign);
VectorOperations<double>::mulScalar(crossAlign, gainAlign, cmdAlign, 3);
}
void SafeCtrl::calculateMagneticMoment(double *magMomB) {
double torqueMgt[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldBT, cmdTorque, torqueMgt);
double normMag = VectorOperations<double>::norm(magFieldBT, 3);
VectorOperations<double>::mulScalar(torqueMgt, pow(normMag, -2), magMomB, 3);
} }

52
mission/controller/acs/control/SafeCtrl.h
View File

@ -1,40 +1,52 @@
#ifndef SAFECTRL_H_ #ifndef SAFECTRL_H_
#define SAFECTRL_H_ #define SAFECTRL_H_
#include <eive/resultClassIds.h>
#include <mission/acs/defs.h>
#include <mission/controller/acs/AcsParameters.h>
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "eive/resultClassIds.h"
class SafeCtrl { class SafeCtrl {
public: public:
SafeCtrl(AcsParameters *acsParameters_); SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl(); virtual ~SafeCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_SAFE; uint8_t safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01); const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled);
ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel, void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid, const double *quatBI, const double *sunDirRefB, double *magMomB,
double *satRateMekf, bool rateMekfValid, double *sunDirRef, double &errorAngle);
double *satRatRef, // From Guidance (!)
double *outputAngle, double *outputMagMomB);
ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB, void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid, const double *sunDirRefB, double *magMomB, double &errorAngle);
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB); void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
double *magMomB, double &errorAngle);
void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
double &errorAngle, const double gainParallel,
const double gainOrtho);
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign);
void calculateMagneticMoment(double *magMomB);
protected: protected:
private: private:
AcsParameters *acsParameters; AcsParameters *acsParameters;
double gainMatrixInertia[3][3]; double magFieldBT[3] = {0, 0, 0};
double satRotRateParallelB[3] = {0, 0, 0};
double magFieldBState[3]; double satRotRateOrthogonalB[3] = {0, 0, 0};
timeval magFieldBStateTime; double cmdParallel[3] = {0, 0, 0};
double cmdOrtho[3] = {0, 0, 0};
double cmdAlign[3] = {0, 0, 0};
double cmdTorque[3] = {0, 0, 0};
}; };
#endif /* ACS_CONTROL_SAFECTRL_H_ */ #endif /* ACS_CONTROL_SAFECTRL_H_ */

4
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -94,6 +94,7 @@ enum PoolIds : lp_id_t {
QUAT_MEKF, QUAT_MEKF,
MEKF_STATUS, MEKF_STATUS,
// Ctrl Values // Ctrl Values
SAFE_STRAT,
TGT_QUAT, TGT_QUAT,
ERROR_QUAT, ERROR_QUAT,
ERROR_ANG, ERROR_ANG,
@ -112,7 +113,7 @@ static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5; static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 5; static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t MEKF_SET_ENTRIES = 3; static constexpr uint8_t MEKF_SET_ENTRIES = 3;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 4; static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3; static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
/** /**
@ -251,6 +252,7 @@ class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
public: public:
CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {} CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
lp_var_t<uint8_t> safeStrat = lp_var_t<uint8_t>(sid.objectId, SAFE_STRAT, this);
lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this); 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_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); lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);

2
tmtc

@ -1 +1 @@
Subproject commit 1f06ea4590d6340990fb8d9534a84e7e9de68951 Subproject commit a07f21329adcffa963d75769d523b3df34222543