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make detumble relevant rotational rate always observable

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This commit is contained in:
Marius Eggert
2024-06-12 16:32:47 +02:00
parent f19b129609
commit abbbb0cabb
4 changed files with 40 additions and 49 deletions
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15
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -129,9 +129,8 @@ enum PoolIds : lp_id_t {
RW_TARGET_SPEED,
MTQ_TARGET_DIPOLE,
// Fused Rotation Rate
ROT_RATE_ORTHOGONAL,
ROT_RATE_PARALLEL,
ROT_RATE_TOTAL,
ROT_RATE_TOTAL_SUSMGM,
ROT_RATE_TOTAL_SOURCE,
ROT_RATE_SOURCE,
// Fused Rotation Rate Sources
ROT_RATE_ORTHOGONAL_SUSMGM,
@ -151,7 +150,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 6;
static constexpr uint8_t ATTITUDE_ESTIMATION_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 FUSED_ROT_RATE_SET_ENTRIES = 4;
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;
/**
@ -318,10 +317,10 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
FusedRotRateData(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
lp_vec_t<double, 3> rotRateOrthogonal =
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
lp_vec_t<double, 3> rotRateTotalSusMgm =
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_SUSMGM, this);
lp_vec_t<double, 3> rotRateTotalSource =
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_SOURCE, this);
lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);
private: