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fixed booleans in acs Parameters and enabled setting of parameters
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This commit is contained in:
Marius Eggert 2022-12-16 13:59:49 +01:00
parent 3f2910c3a7
commit b3a2cc4367
3 changed files with 549 additions and 543 deletions
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1069
mission/controller/acs/AcsParameters.cpp
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File diff suppressed because it is too large Load Diff

21
mission/controller/acs/AcsParameters.h
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@ -12,15 +12,15 @@
typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ {
class AcsParameters : public HasParametersIF {
public:
AcsParameters();
virtual ~AcsParameters();
/*
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
*/
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) override;
struct OnBoardParams {
double sampleTime = 0.4; // [s]
} onBoardParams;
@ -776,8 +776,7 @@ class AcsParameters /*: public HasParametersIF*/ {
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 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)};
enum PreferAdis { NO = 0, YES = 1 };
uint8_t preferAdis = PreferAdis::YES;
uint8_t preferAdis = true;
} gyrHandlingParameters;
struct RwHandlingParameters {
@ -834,7 +833,7 @@ class AcsParameters /*: public HasParametersIF*/ {
double refDirection[3] = {-1, 0, 0}; // Antenna
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true;
uint8_t avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180;
@ -847,8 +846,8 @@ class AcsParameters /*: public HasParametersIF*/ {
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
bool desatOn = true;
bool enableAntiStiction = true;
uint8_t desatOn = true;
uint8_t enableAntiStiction = true;
double omegaEarth = 0.000072921158553;

2
mission/controller/acs/SensorProcessing.cpp
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@ -530,7 +530,7 @@ void SensorProcessing::processGyr(
// take ADIS measurements, if both avail
// if just one ADIS measurement avail, perform sensor fusion
double gyrVecTot[3] = {0.0, 0.0, 0.0};
if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == true) {
double gyr02ValuesSum[3];
VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);