eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

fixed booleans in acs Parameters and enabled setting of parameters
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1069
mission/controller/acs/AcsParameters.cpp
View File

File diff suppressed because it is too large Load Diff

21
mission/controller/acs/AcsParameters.h
View File

@ -12,15 +12,15 @@
typedef unsigned char uint8_t; typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ { class AcsParameters : public HasParametersIF {
public: public:
AcsParameters(); AcsParameters();
virtual ~AcsParameters(); virtual ~AcsParameters();
/*
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId, ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
const ParameterWrapper *newValues, uint16_t startAtIndex); uint16_t startAtIndex) override;
*/
struct OnBoardParams { struct OnBoardParams {
double sampleTime = 0.4; // [s] double sampleTime = 0.4; // [s]
} onBoardParams; } 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(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 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)}; float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
enum PreferAdis { NO = 0, YES = 1 }; uint8_t preferAdis = true;
uint8_t preferAdis = PreferAdis::YES;
} gyrHandlingParameters; } gyrHandlingParameters;
struct RwHandlingParameters { struct RwHandlingParameters {
@ -834,7 +833,7 @@ class AcsParameters /*: public HasParametersIF*/ {
double refDirection[3] = {-1, 0, 0}; // Antenna double refDirection[3] = {-1, 0, 0}; // Antenna
double refRotRate[3] = {0, 0, 0}; double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1}; double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true; uint8_t avoidBlindStr = true;
double blindAvoidStart = 1.5; double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5; double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180; double blindRotRate = 1 * M_PI / 180;
@ -847,8 +846,8 @@ class AcsParameters /*: public HasParametersIF*/ {
double desatMomentumRef[3] = {0, 0, 0}; double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000; double deSatGainFactor = 1000;
bool desatOn = true; uint8_t desatOn = true;
bool enableAntiStiction = true; uint8_t enableAntiStiction = true;
double omegaEarth = 0.000072921158553; double omegaEarth = 0.000072921158553;

2
mission/controller/acs/SensorProcessing.cpp
View File

@ -530,7 +530,7 @@ void SensorProcessing::processGyr(
// take ADIS measurements, if both avail // take ADIS measurements, if both avail
// if just one ADIS measurement avail, perform sensor fusion // if just one ADIS measurement avail, perform sensor fusion
double gyrVecTot[3] = {0.0, 0.0, 0.0}; 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]; double gyr02ValuesSum[3];
VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3); VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3); VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);