eive/eive-obsw
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added gpsVelocity to gpsProcessed dataSet
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This commit is contained in:
Marius Eggert 2022-12-14 10:39:41 +01:00
parent b6c5796121
commit c97d319b2a
3 changed files with 5 additions and 1 deletions
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1
mission/controller/AcsController.cpp
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@ -393,6 +393,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);

1
mission/controller/AcsController.h
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@ -144,6 +144,7 @@ class AcsController : public ExtendedControllerBase {
acsctrl::GpsDataProcessed gpsDataProcessed;
PoolEntry<double> gcLatitude = PoolEntry<double>();
PoolEntry<double> gdLongitude = PoolEntry<double>();
PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
// MEKF
acsctrl::MekfData mekfData;

4
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -86,6 +86,7 @@ enum PoolIds : lp_id_t {
// GPS Processed
GC_LATITUDE,
GD_LONGITUDE,
GPS_VELOCITY,
// MEKF
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
@ -105,7 +106,7 @@ static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 3;
static constexpr uint8_t MEKF_SET_ENTRIES = 2;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
@ -224,6 +225,7 @@ class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
lp_vec_t<double, 3> gpsVelocity = lp_vec_t<double, 3>(sid.objectId, GPS_VELOCITY, this);
private:
};