Merge branch 'main' into tcs-ctrl-ignores-ext-ctrl
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This commit is contained in:
Marius Eggert 2024-03-18 11:05:23 +01:00
commit c4e18432e2
10 changed files with 30 additions and 12 deletions

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@ -16,10 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
## Fixed
- Bumped `eive-fsfw`
- Heaters set to `EXTERNAL CONTROL` no longer can be switched off by the `TCS Controller`, if
they violate the maximum burn duration of the controller.
## Added
- Added parameter to disable STR input for MEKF.
## Changed
@ -27,6 +28,13 @@ will consitute of a breaking change warranting a new major release:
try to control the temperature of that object.
- Set lower OP limit of `PLOC` to -5°C.
## Fixed
- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the
performance of the controller.
- Heaters set to `EXTERNAL CONTROL` no longer can be switched off by the `TCS Controller`, if
they violate the maximum burn duration of the controller.
# [v7.7.2] 2024-03-06
## Fixed

2
fsfw

@ -1 +1 @@
Subproject commit 47b21caf5fa2a27c7ace89f960141b3f24c329ee
Subproject commit 43ea29cb845d4a7d190c87df490eb53c4992618b

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@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() {
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, timeDelta, &attitudeEstimationData);
&susDataProcessed, timeDelta, &attitudeEstimationData,
acsParameters.kalmanFilterParameters.allowStr);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {

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@ -734,6 +734,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs);
break;
case 0x6:
parameterWrapper->set(kalmanFilterParameters.allowStr);
break;
default:
return INVALID_IDENTIFIER_ID;
}

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@ -947,6 +947,8 @@ class AcsParameters : public HasParametersIF {
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
uint8_t allowStr = false;
} kalmanFilterParameters;
struct MagnetorquerParameter {

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@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
return;
}
QuaternionOperations::preventSignJump(quatIX, quatIXprev);
// check required rotation and return if below limit
double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatIXprev, quatXprevI);

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@ -626,11 +626,11 @@ void MultiplicativeKalmanFilter::updateDataSet(
}
}
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW,
bool valid) {
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, bool valid,
bool allowStr) {
strData.strQuat.value[0] = qX;
strData.strQuat.value[1] = qY;
strData.strQuat.value[2] = qZ;
strData.strQuat.value[3] = qW;
strData.strQuat.valid = valid;
strData.strQuat.valid = (valid and allowStr);
}

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@ -38,7 +38,7 @@ class MultiplicativeKalmanFilter {
void updateStandardDeviations(const AcsParameters *acsParameters);
void setStrData(const double qX, const double qY, const double qZ, const double qW,
const bool valid);
const bool valid, const bool allowStr);
static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);

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@ -9,11 +9,12 @@ ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed,
const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
acsctrl::AttitudeEstimationData *attitudeEstimationData,
const bool allowStr) {
multiplicativeKalmanFilter.setStrData(
sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value,
sensorValues->strSet.caliQx.isValid());
sensorValues->strSet.caliQx.isValid(), allowStr);
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed,

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@ -17,7 +17,8 @@ class Navigation {
const acsctrl::GyrDataProcessed *gyrDataProcessed,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData);
acsctrl::AttitudeEstimationData *attitudeEstimationData,
const bool allowStr);
void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);