Merge branch 'main' into str-secondary-fw-slot-update
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c04be384a1
@ -25,6 +25,13 @@ will consitute of a breaking change warranting a new major release:
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- Bugfix in PLOC MPSoC HK set: Set and variables were not set valid.
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- The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode
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and is triggered by the `AcsController` now.
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- Fixed a corner case, in which an invalid speed command could be sent to the `RwHandler`.
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## Changed
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- `FusedRotationRate` now only uses rotation rate from QUEST and STR in higher modes
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- QUEST and STR rates are now allowed per default
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- Changed PTG Strat priorities to favor STR before MEKF.
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## Added
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@ -173,7 +173,7 @@ void AcsController::performAttitudeControl() {
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&susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
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attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
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fusedRotationEstimation.estimateFusedRotationRate(
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&susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
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mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
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&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
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result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
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&susDataProcessed, &attitudeEstimationData, &acsParameters);
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@ -20,8 +20,8 @@ class AcsParameters : public HasParametersIF {
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double sampleTime = 0.4; // [s]
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uint16_t ptgCtrlLostTimer = 750;
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uint8_t fusedRateSafeDuringEclipse = true;
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uint8_t fusedRateFromStr = false;
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uint8_t fusedRateFromQuest = false;
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uint8_t fusedRateFromStr = true;
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uint8_t fusedRateFromQuest = true;
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double questFilterWeight = 0.0;
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} onBoardParams;
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@ -5,18 +5,18 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
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}
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void FusedRotationEstimation::estimateFusedRotationRate(
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acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
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acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
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const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed,
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ACS::SensorValues *sensorValues, acsctrl::AttitudeEstimationData *attitudeEstimationData,
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const double timeDelta, acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
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acsctrl::FusedRotRateData *fusedRotRateData) {
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estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
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estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
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estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
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fusedRotRateSourcesData);
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if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
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acsParameters->onBoardParams.fusedRateFromStr) {
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if (not(mode == acs::AcsMode::SAFE) and (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
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acsParameters->onBoardParams.fusedRateFromStr)) {
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PoolReadGuard pg(fusedRotRateData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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@ -29,8 +29,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
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fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
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fusedRotRateData->rotRateSource.setValid(true);
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}
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} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
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acsParameters->onBoardParams.fusedRateFromQuest) {
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} else if (not(mode == acs::AcsMode::SAFE) and
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(fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
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acsParameters->onBoardParams.fusedRateFromQuest)) {
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PoolReadGuard pg(fusedRotRateData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
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@ -12,7 +12,7 @@ class FusedRotationEstimation {
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public:
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FusedRotationEstimation(AcsParameters *acsParameters_);
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void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
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void estimateFusedRotationRate(const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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ACS::SensorValues *sensorValues,
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@ -15,10 +15,10 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
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const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
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if (not magFieldValid) {
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return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
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} else if (mekfEnabled and mekfValid) {
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return acs::ControlModeStrategy::PTGCTRL_MEKF;
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} else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
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return acs::ControlModeStrategy::PTGCTRL_STR;
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} else if (mekfEnabled and mekfValid) {
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return acs::ControlModeStrategy::PTGCTRL_MEKF;
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} else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
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return acs::ControlModeStrategy::PTGCTRL_QUEST;
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}
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@ -221,6 +221,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
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rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
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} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
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rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
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} else {
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rwCmdSpeeds[i] = 0;
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}
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}
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}
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