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This commit is contained in:
Robin Müller 2023-12-06 17:27:43 +01:00
parent 87798f9e52
commit acf693636a
Signed by: muellerr
GPG Key ID: A649FB78196E3849
8 changed files with 24 additions and 24 deletions
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4
mission/controller/acs/AcsParameters.h
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@ -791,8 +791,8 @@ class AcsParameters : public HasParametersIF {
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
double gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;

5
mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstim
}
}
void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus,
double quat[4], double satRotRate[3]) {
void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData,
MekfStatus mekfStatus, double quat[4],
double satRotRate[3]) {
{
PoolReadGuard pg(mekfData);
if (pg.getReadResult() == returnvalue::OK) {

8
mission/controller/acs/MultiplicativeKalmanFilter.h
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@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter {
*/
ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
const bool validSS, const double *sunDirJ, const bool validSSModel,
const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
AcsParameters *acsParameters);
const double *magFieldJ, const bool validMagModel,
acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
/* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
* for the current step after the initalization
@ -100,8 +100,8 @@ class MultiplicativeKalmanFilter {
/*Parameter INIT*/
/*Functions*/
void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus);
void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, double quat[4],
double satRotRate[3]);
void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus,
double quat[4], double satRotRate[3]);
};
#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

4
mission/controller/acs/Navigation.h
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@ -17,8 +17,8 @@ class Navigation {
ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::AttitudeEstimationData *mekfData,
AcsParameters *acsParameters);
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);

6
mission/controller/acs/control/Detumble.cpp
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@ -8,9 +8,9 @@ Detumble::Detumble() {}
Detumble::~Detumble() {}
acs::ControlModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw) {
const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw) {
if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (satRotRateValid and useFullDetumbleLaw) {

4
mission/controller/acs/control/Detumble.h
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@ -12,8 +12,8 @@ class Detumble {
virtual ~Detumble();
acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw);
const bool magFieldRateValid,
const bool useFullDetumbleLaw);
void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
double gain);

10
mission/controller/acs/control/SafeCtrl.cpp
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@ -9,12 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const bool fusedRateTotalValid,
const uint8_t mekfEnabled,
const uint8_t gyrEnabled,
const uint8_t dampingEnabled) {
acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled,
const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {

7
mission/controller/acs/control/SafeCtrl.h
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@ -13,9 +13,10 @@ class SafeCtrl {
virtual ~SafeCtrl();
acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const bool fusedRateTotalValid, const uint8_t mekfEnabled,
const uint8_t gyrEnabled, const uint8_t dampingEnabled);
const bool satRotRateValid, const bool sunDirValid,
const bool fusedRateTotalValid,
const uint8_t mekfEnabled, const uint8_t gyrEnabled,
const uint8_t dampingEnabled);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, double *magMomB,