diff --git a/CHANGELOG.md b/CHANGELOG.md index bea8447d..b89cacbe 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,31 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +# [v7.5.0] 2023-12-06 + +- `eive-tmtc` v5.12.0 + +## Changed + +- ACS-Board default side changed to B-Side +- The TLE uploaded now gets stored in a file on the filesystem. It will always be stored on + the current active SD Card. After a reboot, the TLE will be read from the filesystem. + A filesystem change via `prefSD` on bootup, can lead to the TLE not being read, even + though it is there. +- Added action cmd to read the currently stored TLE. +- Both the `AcsController` and the `PwrController` now use the monotonic clock to calculate + the time difference. +- `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing + on to the relevant mode functions. It handles all telemetry relevant functions, which were + always called, regardless of the mode. + +## Added + +- Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their + quaternion and rotational rate depending on the available sources. +- `QUEST` attitude estimation was added to the `AcsController`. +- The fused rotational rate can now be estimated from `QUEST` and the `STR`. + # [v7.4.1] 2023-12-06 ## Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 29d1ba23..e172ee9c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,8 +10,8 @@ cmake_minimum_required(VERSION 3.13) set(OBSW_VERSION_MAJOR 7) -set(OBSW_VERSION_MINOR 4) -set(OBSW_VERSION_REVISION 1) +set(OBSW_VERSION_MINOR 5) +set(OBSW_VERSION_REVISION 0) # set(CMAKE_VERBOSE TRUE) diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 92401ab1..18184b50 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 317 translations. + * @brief Auto-generated event translation file. Contains 318 translations. * @details - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateEvents.h" @@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET"; -const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; +const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; +const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; @@ -514,11 +515,13 @@ const char *translateEvents(Event event) { case (11205): return MEKF_AUTOMATIC_RESET_STRING; case (11206): - return MEKF_INVALID_MODE_VIOLATION_STRING; + return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING; case (11207): return SAFE_MODE_CONTROLLER_FAILURE_STRING; case (11208): return TLE_TOO_OLD_STRING; + case (11209): + return TLE_FILE_READ_FAILED_STRING; case (11300): return SWITCH_CMD_SENT_STRING; case (11301): diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 834bdf41..f8058834 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 175 translations. - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateObjects.h" diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp index 65456d1e..949f969b 100644 --- a/bsp_q7s/em/emObjectFactory.cpp +++ b/bsp_q7s/em/emObjectFactory.cpp @@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) { createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false, power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V); #endif - createAcsController(true, enableHkSets); + createAcsController(true, enableHkSets, *SdCardManager::instance()); HeaterHandler* heaterHandler; createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler); createThermalController(*heaterHandler, true); diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp index 05704abf..71722e52 100644 --- a/bsp_q7s/fmObjectFactory.cpp +++ b/bsp_q7s/fmObjectFactory.cpp @@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) { createMiscComponents(); createThermalController(*heaterHandler, false); - createAcsController(true, enableHkSets); + createAcsController(true, enableHkSets, *SdCardManager::instance()); satsystem::init(false); } diff --git a/fsfw b/fsfw index b28174db..7105e199 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit b28174db249cb33b541f665270fd6af14c382351 +Subproject commit 7105e199c650303ac1a48e75aebc44182630931e diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv index 656843f1..97eeaf37 100644 --- a/generators/bsp_hosted_events.csv +++ b/generators/bsp_hosted_events.csv @@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h -11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h +11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h +11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h diff --git a/generators/bsp_hosted_returnvalues.csv b/generators/bsp_hosted_returnvalues.csv index abc43314..8bbb79f4 100644 --- a/generators/bsp_hosted_returnvalues.csv +++ b/generators/bsp_hosted_returnvalues.csv @@ -509,6 +509,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h +0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h +0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 656843f1..97eeaf37 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h -11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h +11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h +11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv index d2922a1c..e194ac67 100644 --- a/generators/bsp_q7s_returnvalues.csv +++ b/generators/bsp_q7s_returnvalues.csv @@ -593,6 +593,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h +0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h +0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 92401ab1..18184b50 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 317 translations. + * @brief Auto-generated event translation file. Contains 318 translations. * @details - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateEvents.h" @@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET"; -const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; +const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; +const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; @@ -514,11 +515,13 @@ const char *translateEvents(Event event) { case (11205): return MEKF_AUTOMATIC_RESET_STRING; case (11206): - return MEKF_INVALID_MODE_VIOLATION_STRING; + return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING; case (11207): return SAFE_MODE_CONTROLLER_FAILURE_STRING; case (11208): return TLE_TOO_OLD_STRING; + case (11209): + return TLE_FILE_READ_FAILED_STRING; case (11300): return SWITCH_CMD_SENT_STRING; case (11301): diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 2af38f77..279261c2 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 179 translations. - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateObjects.h" diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 0165a08c..5626ee49 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -331,8 +331,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM); } -AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) { - auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets); +AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets, + SdCardMountedIF& mountedIF) { + auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF); if (connectSubsystem) { acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); } diff --git a/linux/ObjectFactory.h b/linux/ObjectFactory.h index 46baa685..b813d823 100644 --- a/linux/ObjectFactory.h +++ b/linux/ObjectFactory.h @@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher, void gpioChecker(ReturnValue_t result, std::string output); -AcsController* createAcsController(bool connectSubsystem, bool enableHkSets); +AcsController* createAcsController(bool connectSubsystem, bool enableHkSets, + SdCardMountedIF& mountedIF); PowerController* createPowerController(bool connectSubsystem, bool enableHkSets); } // namespace ObjectFactory diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 92401ab1..18184b50 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 317 translations. + * @brief Auto-generated event translation file. Contains 318 translations. * @details - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateEvents.h" @@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID"; const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO"; const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY"; const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET"; -const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION"; +const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION"; const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE"; const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD"; +const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; @@ -514,11 +515,13 @@ const char *translateEvents(Event event) { case (11205): return MEKF_AUTOMATIC_RESET_STRING; case (11206): - return MEKF_INVALID_MODE_VIOLATION_STRING; + return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING; case (11207): return SAFE_MODE_CONTROLLER_FAILURE_STRING; case (11208): return TLE_TOO_OLD_STRING; + case (11209): + return TLE_FILE_READ_FAILED_STRING; case (11300): return SWITCH_CMD_SENT_STRING; case (11301): diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 2af38f77..279261c2 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 179 translations. - * Generated on: 2023-11-29 15:14:46 + * Generated on: 2023-12-06 17:19:38 */ #include "translateObjects.h" diff --git a/mission/acs/defs.h b/mission/acs/defs.h index baed276d..3a62b51f 100644 --- a/mission/acs/defs.h +++ b/mission/acs/defs.h @@ -22,10 +22,10 @@ enum AcsMode : Mode_t { enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 }; -enum SafeModeStrategy : uint8_t { - SAFECTRL_OFF = 0, - SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1, - SAFECTRL_NO_SENSORS_FOR_CONTROL = 2, +enum ControlModeStrategy : uint8_t { + CTRL_OFF = 0, + CTRL_NO_MAG_FIELD_FOR_CONTROL = 1, + CTRL_NO_SENSORS_FOR_CONTROL = 2, // OBSW version <= v6.1.0 LEGACY_SAFECTRL_ACTIVE_MEKF = 10, LEGACY_SAFECTRL_WITHOUT_MEKF = 11, @@ -40,14 +40,28 @@ enum SafeModeStrategy : uint8_t { SAFECTRL_ECLIPSE_IDELING = 19, SAFECTRL_DETUMBLE_FULL = 20, SAFECTRL_DETUMBLE_DETERIORATED = 21, + // Added in vNext + PTGCTRL_MEKF = 100, + PTGCTRL_STR = 101, + PTGCTRL_QUEST = 102, }; - -enum GpsSource : uint8_t { +namespace gps { +enum Source : uint8_t { NONE, GPS, GPS_EXTRAPOLATED, SPG4, }; +} + +namespace rotrate { +enum Source : uint8_t { + NONE, + SUSMGM, + QUEST, + STR, +}; +} static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM; //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated. @@ -64,15 +78,17 @@ static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO); static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO); //! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values. static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO); -//! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a -//! prolonged time. -static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH); +//! [EXPORT] : [COMMENT] For a prolonged time, no attitude information was available for the +//! Pointing Controller. Falling back to Safe Mode. +static constexpr Event PTG_CTRL_NO_ATTITUDE_INFORMATION = MAKE_EVENT(6, severity::HIGH); //! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has //! failed. //! P1: Missing information about magnetic field, P2: Missing information about rotational rate static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH); //! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old. static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO); +//! [EXPORT] : [COMMENT] The TLE could not be read from the filesystem. +static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW); extern const char* getModeStr(AcsMode mode); diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 1350bcf0..6adb4a0b 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -1,12 +1,10 @@ #include "AcsController.h" -#include -#include -#include - -AcsController::AcsController(object_id_t objectId, bool enableHkSets) +AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan) : ExtendedControllerBase(objectId), enableHkSets(enableHkSets), + sdcMan(sdcMan), + attitudeEstimation(&acsParameters), fusedRotationEstimation(&acsParameters), guidance(&acsParameters), safeCtrl(&acsParameters), @@ -19,11 +17,11 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets) gyrDataRaw(this), gyrDataProcessed(this), gpsDataProcessed(this), - mekfData(this), + attitudeEstimationData(this), ctrlValData(this), actuatorCmdData(this), fusedRotRateData(this), - tleData(this) {} + fusedRotRateSourcesData(this) {} ReturnValue_t AcsController::initialize() { ReturnValue_t result = parameterHelper.initialize(); @@ -56,7 +54,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t return HasActionsIF::EXECUTION_FINISHED; } case RESET_MEKF: { - navigation.resetMekf(&mekfData); + navigation.resetMekf(&attitudeEstimationData); return HasActionsIF::EXECUTION_FINISHED; } case RESTORE_MEKF_NONFINITE_RECOVERY: { @@ -67,22 +65,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t if (size != 69 * 2) { return INVALID_PARAMETERS; } - ReturnValue_t result = navigation.updateTle(data, data + 69); + ReturnValue_t result = updateTle(data, data + 69, false); if (result != returnvalue::OK) { - PoolReadGuard pg(&tleData); - navigation.updateTle(tleData.line1.value, tleData.line2.value); return result; } - { - PoolReadGuard pg(&tleData); - if (pg.getReadResult() == returnvalue::OK) { - std::memcpy(tleData.line1.value, data, 69); - std::memcpy(tleData.line2.value, data + 69, 69); - tleData.setValidity(true, true); - } + result = writeTleToFs(data); + if (result != returnvalue::OK) { + return result; } return HasActionsIF::EXECUTION_FINISHED; } + case (READ_TLE): { + uint8_t tle[69 * 2] = {}; + uint8_t line2[69] = {}; + ReturnValue_t result = readTleFromFs(tle, line2); + if (result != returnvalue::OK) { + return result; + } + std::memcpy(tle + 69, line2, 69); + actionHelper.reportData(commandedBy, actionId, tle, 69 * 2); + return EXECUTION_FINISHED; + } default: { return HasActionsIF::INVALID_ACTION_ID; } @@ -130,31 +133,17 @@ void AcsController::performControlOperation() { } case InternalState::INITIAL_DELAY: { if (initialCountdown.hasTimedOut()) { + uint8_t line1[69] = {}; + uint8_t line2[69] = {}; + readTleFromFs(line1, line2); + updateTle(line1, line2, true); internalState = InternalState::READY; } return; } case InternalState::READY: { if (mode != MODE_OFF) { - switch (mode) { - case acs::SAFE: - switch (submode) { - case SUBMODE_NONE: - performSafe(); - break; - case acs::DETUMBLE: - performDetumble(); - break; - } - break; - case acs::PTG_IDLE: - case acs::PTG_TARGET: - case acs::PTG_TARGET_GS: - case acs::PTG_NADIR: - case acs::PTG_INERTIAL: - performPointingCtrl(); - break; - } + performAttitudeControl(); } break; } @@ -163,32 +152,42 @@ void AcsController::performControlOperation() { } } -void AcsController::performSafe() { - timeval now; - Clock::getClock_timeval(&now); +void AcsController::performAttitudeControl() { + Clock::getClock_timeval(&timeAbsolute); + Clock::getClockMonotonic(&timeRelative); - ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed); + if (timeRelative.tv_sec != 0 and oldTimeRelative.tv_sec != 0) { + timeDelta = timevalOperations::toDouble(timeRelative - oldTimeRelative); + } + oldTimeRelative = timeRelative; + + ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed); if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) { triggerEvent(acs::TLE_TOO_OLD); tleTooOldFlag = true; } else if (result != Sgp4Propagator::TLE_TOO_OLD) { tleTooOldFlag = false; } - sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, - &gyrDataProcessed, &gpsDataProcessed, &acsParameters); - fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed, - &gyrDataProcessed, &fusedRotRateData); + + sensorProcessing.process(timeAbsolute, timeDelta, &sensorValues, &mgmDataProcessed, + &susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters); + attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData); + fusedRotationEstimation.estimateFusedRotationRate( + &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues, + &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData); result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, - &susDataProcessed, &mekfData, &acsParameters); - if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && + &susDataProcessed, &attitudeEstimationData, &acsParameters); + + if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { if (not mekfInvalidFlag) { - triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value); + triggerEvent(acs::MEKF_INVALID_INFO, + static_cast(attitudeEstimationData.mekfStatus.value)); mekfInvalidFlag = true; } - if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { + if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) { triggerEvent(acs::MEKF_AUTOMATIC_RESET); - navigation.resetMekf(&mekfData); + navigation.resetMekf(&attitudeEstimationData); mekfLost = true; } } else if (mekfInvalidFlag) { @@ -196,32 +195,55 @@ void AcsController::performSafe() { mekfInvalidFlag = false; } + switch (mode) { + case acs::SAFE: + switch (submode) { + case SUBMODE_NONE: + performSafe(); + break; + case acs::DETUMBLE: + performDetumble(); + break; + } + break; + case acs::PTG_IDLE: + case acs::PTG_TARGET: + case acs::PTG_TARGET_GS: + case acs::PTG_NADIR: + case acs::PTG_INERTIAL: + performPointingCtrl(); + break; + } +} + +void AcsController::performSafe() { // get desired satellite rate, sun direction to align to and inertia double sunTargetDir[3] = {0, 0, 0}; guidance.getTargetParamsSafe(sunTargetDir); double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; - acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy( + acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy( mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(), fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf, acsParameters.safeModeControllerParameters.useGyr, acsParameters.safeModeControllerParameters.dampingDuringEclipse); switch (safeCtrlStrat) { - case (acs::SafeModeStrategy::SAFECTRL_MEKF): - safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value, - susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir, - magMomMtq, errAng); + case (acs::ControlModeStrategy::SAFECTRL_MEKF): + safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, + attitudeEstimationData.satRotRateMekf.value, + susDataProcessed.sunIjkModel.value, attitudeEstimationData.quatMekf.value, + sunTargetDir, magMomMtq, errAng); safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_GYR): + case (acs::ControlModeStrategy::SAFECTRL_GYR): safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value, susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng); safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_SUSMGM): + case (acs::ControlModeStrategy::SAFECTRL_SUSMGM): safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value, fusedRotRateData.rotRateParallel.value, fusedRotRateData.rotRateOrthogonal.value, @@ -229,29 +251,29 @@ void AcsController::performSafe() { safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR): + case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR): safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq, errAng); safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM): + case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM): safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq, errAng); safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING): + case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING): errAng = NAN; safeCtrlFailureFlag = false; safeCtrlFailureCounter = 0; break; - case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL): + case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL): safeCtrlFailure(1, 0); break; - case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): + case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL): safeCtrlFailure(0, 1); break; default: @@ -264,8 +286,8 @@ void AcsController::performSafe() { // detumble check and switch if (acsParameters.safeModeControllerParameters.useMekf) { - if (mekfData.satRotRateMekf.isValid() and - VectorOperations::norm(mekfData.satRotRateMekf.value, 3) > + if (attitudeEstimationData.satRotRateMekf.isValid() and + VectorOperations::norm(attitudeEstimationData.satRotRateMekf.value, 3) > acsParameters.detumbleParameter.omegaDetumbleStart) { detumbleCounter++; } @@ -296,55 +318,24 @@ void AcsController::performSafe() { } void AcsController::performDetumble() { - timeval now; - Clock::getClock_timeval(&now); - - ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed); - if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) { - triggerEvent(acs::TLE_TOO_OLD); - tleTooOldFlag = true; - } else { - tleTooOldFlag = false; - } - sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, - &gyrDataProcessed, &gpsDataProcessed, &acsParameters); - fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed, - &gyrDataProcessed, &fusedRotRateData); - result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, - &susDataProcessed, &mekfData, &acsParameters); - if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && - result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { - if (not mekfInvalidFlag) { - triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value); - mekfInvalidFlag = true; - } - if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { - triggerEvent(acs::MEKF_AUTOMATIC_RESET); - navigation.resetMekf(&mekfData); - mekfLost = true; - } - } else if (mekfInvalidFlag) { - triggerEvent(acs::MEKF_RECOVERY); - mekfInvalidFlag = false; - } - acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy( + acs::ControlModeStrategy safeCtrlStrat = detumble.detumbleStrategy( mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), mgmDataProcessed.mgmVecTotDerivative.isValid(), acsParameters.detumbleParameter.useFullDetumbleLaw); double magMomMtq[3] = {0, 0, 0}; switch (safeCtrlStrat) { - case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL): + case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL): detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value, magMomMtq, acsParameters.detumbleParameter.gainFull); break; - case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED): + case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED): detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value, magMomMtq, acsParameters.detumbleParameter.gainBdot); break; - case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL): + case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL): safeCtrlFailure(1, 0); break; - case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): + case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL): safeCtrlFailure(0, 1); break; default: @@ -356,8 +347,8 @@ void AcsController::performDetumble() { acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs); if (acsParameters.safeModeControllerParameters.useMekf) { - if (mekfData.satRotRateMekf.isValid() and - VectorOperations::norm(mekfData.satRotRateMekf.value, 3) < + if (attitudeEstimationData.satRotRateMekf.isValid() and + VectorOperations::norm(attitudeEstimationData.satRotRateMekf.value, 3) < acsParameters.detumbleParameter.omegaDetumbleEnd) { detumbleCounter++; } @@ -389,51 +380,71 @@ void AcsController::performDetumble() { } void AcsController::performPointingCtrl() { - timeval now; - Clock::getClock_timeval(&now); - - ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed); - if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) { - triggerEvent(acs::TLE_TOO_OLD); - tleTooOldFlag = true; - } else { - tleTooOldFlag = false; + bool strValid = (sensorValues.strSet.caliQw.isValid() and sensorValues.strSet.caliQx.isValid() and + sensorValues.strSet.caliQy.isValid() and sensorValues.strSet.caliQz.isValid()); + uint8_t useMekf = false; + switch (mode) { + case acs::PTG_IDLE: + useMekf = acsParameters.idleModeControllerParameters.useMekf; + break; + case acs::PTG_TARGET: + useMekf = acsParameters.targetModeControllerParameters.useMekf; + break; + case acs::PTG_TARGET_GS: + useMekf = acsParameters.gsTargetModeControllerParameters.useMekf; + break; + case acs::PTG_NADIR: + useMekf = acsParameters.nadirModeControllerParameters.useMekf; + break; + case acs::PTG_INERTIAL: + useMekf = acsParameters.inertialModeControllerParameters.useMekf; + break; } - sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, - &gyrDataProcessed, &gpsDataProcessed, &acsParameters); - result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, - &susDataProcessed, &mekfData, &acsParameters); - if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && - result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { - mekfInvalidCounter++; - if (not mekfInvalidFlag) { - triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value); - mekfInvalidFlag = true; - } - if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) { - triggerEvent(acs::MEKF_AUTOMATIC_RESET); - navigation.resetMekf(&mekfData); - mekfLost = true; - } - if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) { - // Trigger this so STR FDIR can set the device faulty. - EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); - mekfInvalidCounter = 0; + acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy( + mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid, + attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(), + fusedRotRateData.rotRateSource.isValid(), useMekf); + + if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) { + ptgCtrlLostCounter++; + if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) { + triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION); + ptgCtrlLostCounter = 0; } commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], acsParameters.rwHandlingParameters.rampTime); return; } else { - if (mekfInvalidFlag) { - triggerEvent(acs::MEKF_RECOVERY); - mekfInvalidFlag = false; - } - mekfInvalidCounter = 0; + ptgCtrlLostCounter = 0; } + + double quatBI[4] = {0, 0, 0, 0}, rotRateB[3] = {0, 0, 0}; + switch (ptgCtrlStrat) { + case acs::ControlModeStrategy::PTGCTRL_MEKF: + std::memcpy(quatBI, attitudeEstimationData.quatMekf.value, sizeof(quatBI)); + std::memcpy(rotRateB, attitudeEstimationData.satRotRateMekf.value, sizeof(rotRateB)); + break; + case acs::ControlModeStrategy::PTGCTRL_STR: + quatBI[0] = sensorValues.strSet.caliQx.value; + quatBI[1] = sensorValues.strSet.caliQy.value; + quatBI[2] = sensorValues.strSet.caliQz.value; + quatBI[3] = sensorValues.strSet.caliQw.value; + std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB)); + break; + case acs::ControlModeStrategy::PTGCTRL_QUEST: + std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI)); + std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB)); + break; + default: + sif::error << "AcsController: Invalid pointing mode strategy for performDetumble" + << std::endl; + break; + } + uint8_t enableAntiStiction = true; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); + ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); if (result == returnvalue::FAILED) { if (multipleRwUnavailableCounter >= acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) { @@ -455,10 +466,10 @@ void AcsController::performPointingCtrl() { switch (mode) { case acs::PTG_IDLE: - guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat, + guidance.targetQuatPtgSun(timeDelta, susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate); - guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, - targetSatRotRate, errorQuat, errorSatRotRate, errorAngle); + guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat, + errorSatRotRate, errorAngle); ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate, *rwPseudoInv, torquePtgRws); ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters, @@ -469,18 +480,18 @@ void AcsController::performPointingCtrl() { actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); ptgCtrl.ptgDesaturation( &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value, - mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, - sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, - sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); + mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, + sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, + sensorValues.rw4Set.currSpeed.value, mgtDpDes); enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction; break; case acs::PTG_TARGET: - guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value, + guidance.targetQuatPtgThreeAxes(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value, gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate); - guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, - targetSatRotRate, acsParameters.targetModeControllerParameters.quatRef, + guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, + acsParameters.targetModeControllerParameters.quatRef, acsParameters.targetModeControllerParameters.refRotRate, errorQuat, errorSatRotRate, errorAngle); ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate, @@ -493,17 +504,17 @@ void AcsController::performPointingCtrl() { actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); ptgCtrl.ptgDesaturation( &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, - mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, - sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, - sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); + mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, + sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, + sensorValues.rw4Set.currSpeed.value, mgtDpDes); enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; break; case acs::PTG_TARGET_GS: - guidance.targetQuatPtgGs(now, gpsDataProcessed.gpsPosition.value, + guidance.targetQuatPtgGs(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value, susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate); - guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, - targetSatRotRate, errorQuat, errorSatRotRate, errorAngle); + guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat, + errorSatRotRate, errorAngle); ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate, *rwPseudoInv, torquePtgRws); ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters, @@ -514,18 +525,18 @@ void AcsController::performPointingCtrl() { actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); ptgCtrl.ptgDesaturation( &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, - mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, - sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, - sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); + mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, + sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, + sensorValues.rw4Set.currSpeed.value, mgtDpDes); enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction; break; case acs::PTG_NADIR: - guidance.targetQuatPtgNadirThreeAxes(now, gpsDataProcessed.gpsPosition.value, - gpsDataProcessed.gpsVelocity.value, targetQuat, - targetSatRotRate); - guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, - targetSatRotRate, acsParameters.nadirModeControllerParameters.quatRef, + guidance.targetQuatPtgNadirThreeAxes( + timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value, + gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate); + guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, + acsParameters.nadirModeControllerParameters.quatRef, acsParameters.nadirModeControllerParameters.refRotRate, errorQuat, errorSatRotRate, errorAngle); ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate, @@ -538,17 +549,17 @@ void AcsController::performPointingCtrl() { actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); ptgCtrl.ptgDesaturation( &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value, - mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, - sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, - sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); + mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, + sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, + sensorValues.rw4Set.currSpeed.value, mgtDpDes); enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction; break; case acs::PTG_INERTIAL: std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat, sizeof(targetQuat)); - guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, - targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef, + guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, + acsParameters.inertialModeControllerParameters.quatRef, acsParameters.inertialModeControllerParameters.refRotRate, errorQuat, errorSatRotRate, errorAngle); ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate, @@ -561,9 +572,9 @@ void AcsController::performPointingCtrl() { actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); ptgCtrl.ptgDesaturation( &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value, - mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, - sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, - sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes); + mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value, + sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value, + sensorValues.rw4Set.currSpeed.value, mgtDpDes); enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; break; default: @@ -702,7 +713,7 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double)); ctrlValData.errAng.value = errAng; std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double)); - ctrlValData.safeStrat.value = acs::SafeModeStrategy::SAFECTRL_OFF; + ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF; ctrlValData.setValidity(true, true); } } @@ -779,11 +790,12 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity); localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource); poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0}); - // MEKF + // Attitude Estimation localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf); localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf); localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus); - poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0}); + localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest); + poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0}); // Ctrl Values localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat); localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat); @@ -800,10 +812,15 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel); localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal); + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource); poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0}); - // TLE Data - localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1); - localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2); + // Fused Rot Rate Sources + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm); + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm); + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm); + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest); + localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr); + poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0}); return returnvalue::OK; } @@ -824,13 +841,15 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) { case acsctrl::GPS_PROCESSED_DATA: return &gpsDataProcessed; case acsctrl::MEKF_DATA: - return &mekfData; + return &attitudeEstimationData; case acsctrl::CTRL_VAL_DATA: return &ctrlValData; case acsctrl::ACTUATOR_CMD_DATA: return &actuatorCmdData; case acsctrl::FUSED_ROTATION_RATE_DATA: return &fusedRotRateData; + case acsctrl::FUSED_ROTATION_RATE_SOURCES_DATA: + return &fusedRotRateSourcesData; default: return nullptr; } @@ -1031,6 +1050,67 @@ void AcsController::copySusData() { } } +ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) { + ReturnValue_t result = navigation.updateTle(line1, line2); + if (result != returnvalue::OK) { + if (not fromFile) { + uint8_t fileLine1[69] = {}; + uint8_t fileLine2[69] = {}; + readTleFromFs(fileLine1, fileLine2); + navigation.updateTle(fileLine1, fileLine2); + } + return result; + } + return returnvalue::OK; +} + +ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) { + auto mntPrefix = sdcMan.getCurrentMountPrefix(); + if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) { + return returnvalue::FAILED; + } + std::string path = mntPrefix + TLE_FILE; + // Clear existing TLE from file + std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc); + if (tleFile.is_open()) { + tleFile.write(reinterpret_cast(tle), 69); + tleFile << "\n"; + tleFile.write(reinterpret_cast(tle + 69), 69); + } else { + return WRITE_FILE_FAILED; + } + tleFile.close(); + return returnvalue::OK; +} + +ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) { + auto mntPrefix = sdcMan.getCurrentMountPrefix(); + if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) { + return returnvalue::FAILED; + } + std::string path = mntPrefix + TLE_FILE; + std::error_code e; + if (std::filesystem::exists(path, e)) { + // Read existing TLE from file + std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in); + if (tleFile.is_open()) { + std::string tleLine1, tleLine2; + getline(tleFile, tleLine1); + std::memcpy(line1, tleLine1.c_str(), 69); + getline(tleFile, tleLine2); + std::memcpy(line2, tleLine2.c_str(), 69); + } else { + triggerEvent(acs::TLE_FILE_READ_FAILED); + return READ_FILE_FAILED; + } + tleFile.close(); + } else { + triggerEvent(acs::TLE_FILE_READ_FAILED); + return READ_FILE_FAILED; + } + return returnvalue::OK; +} + void AcsController::copyGyrData() { { PoolReadGuard pg(&sensorValues.gyr0AdisSet); diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index e03f2a55..2e1fe13e 100644 --- a/mission/controller/AcsController.h +++ b/mission/controller/AcsController.h @@ -4,16 +4,20 @@ #include #include #include +#include #include #include #include #include #include #include +#include #include #include #include +#include #include +#include #include #include #include @@ -23,13 +27,18 @@ #include #include #include +#include #include +#include +#include +#include + class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF { public: static constexpr dur_millis_t INIT_DELAY = 500; - AcsController(object_id_t objectId, bool enableHkSets); + AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan); MessageQueueId_t getCommandQueue() const; ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId, @@ -37,6 +46,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes uint16_t startAtIndex) override; protected: + void performAttitudeControl(); void performSafe(); void performDetumble(); void performPointingCtrl(); @@ -49,8 +59,16 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes bool enableHkSets = false; + SdCardMountedIF& sdcMan; + + timeval timeAbsolute; + timeval timeRelative; + double timeDelta = 0.0; + timeval oldTimeRelative; + AcsParameters acsParameters; SensorProcessing sensorProcessing; + AttitudeEstimation attitudeEstimation; FusedRotationEstimation fusedRotationEstimation; Navigation navigation; ActuatorCmd actuatorCmd; @@ -66,7 +84,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes uint8_t detumbleCounter = 0; uint8_t multipleRwUnavailableCounter = 0; bool mekfInvalidFlag = false; - uint16_t mekfInvalidCounter = 0; + uint16_t ptgCtrlLostCounter = 0; bool safeCtrlFailureFlag = false; uint8_t safeCtrlFailureCounter = 0; uint8_t resetMekfCount = 0; @@ -87,10 +105,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes static const DeviceCommandId_t RESET_MEKF = 0x1; static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2; static const DeviceCommandId_t UPDATE_TLE = 0x3; + static const DeviceCommandId_t READ_TLE = 0x4; static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL; //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent. static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0); + //! [EXPORT] : [COMMENT] Writing the TLE to the file has failed. + static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1); + //! [EXPORT] : [COMMENT] Reading the TLE to the file has failed. + static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2); ReturnValue_t initialize() override; ReturnValue_t handleCommandMessage(CommandMessage* message) override; @@ -125,6 +148,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng, const double* tgtRotRate); + ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile); + ReturnValue_t writeTleToFs(const uint8_t* tle); + ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2); + + const std::string TLE_FILE = "/conf/tle.txt"; + /* ACS Sensor Values */ ACS::SensorValues sensorValues; @@ -212,11 +241,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes PoolEntry gpsVelocity = PoolEntry(3); PoolEntry gpsSource = PoolEntry(); - // MEKF - acsctrl::MekfData mekfData; + // Attitude Estimation + acsctrl::AttitudeEstimationData attitudeEstimationData; PoolEntry quatMekf = PoolEntry(4); PoolEntry satRotRateMekf = PoolEntry(3); PoolEntry mekfStatus = PoolEntry(); + PoolEntry quatQuest = PoolEntry(4); // Ctrl Values acsctrl::CtrlValData ctrlValData; @@ -237,11 +267,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes PoolEntry rotRateOrthogonal = PoolEntry(3); PoolEntry rotRateParallel = PoolEntry(3); PoolEntry rotRateTotal = PoolEntry(3); + PoolEntry rotRateSource = PoolEntry(); - // TLE Dataset - acsctrl::TleData tleData; - PoolEntry line1 = PoolEntry(69); - PoolEntry line2 = PoolEntry(69); + // Fused Rot Rate Sources + acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData; + PoolEntry rotRateOrthogonalSusMgm = PoolEntry(3); + PoolEntry rotRateParallelSusMgm = PoolEntry(3); + PoolEntry rotRateTotalSusMgm = PoolEntry(3); + PoolEntry rotRateTotalQuest = PoolEntry(3); + PoolEntry rotRateTotalStr = PoolEntry(3); // Initial delay to make sure all pool variables have been initialized their owners Countdown initialCountdown = Countdown(INIT_DELAY); diff --git a/mission/controller/PowerController.cpp b/mission/controller/PowerController.cpp index 2a735782..8fb774dc 100644 --- a/mission/controller/PowerController.cpp +++ b/mission/controller/PowerController.cpp @@ -157,7 +157,12 @@ ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode, void PowerController::calculateStateOfCharge() { // get time - Clock::getClock_timeval(&now); + Clock::getClockMonotonic(&now); + double timeDelta = 0.0; + if (now.tv_sec != 0 and oldTime.tv_sec != 0) { + timeDelta = timevalOperations::toDouble(now - oldTime); + } + oldTime = now; // update EPS HK values ReturnValue_t result = updateEpsData(); @@ -173,8 +178,6 @@ void PowerController::calculateStateOfCharge() { pwrCtrlCoreHk.setValidity(false, true); } } - // store time for next run - oldTime = now; return; } @@ -195,12 +198,10 @@ void PowerController::calculateStateOfCharge() { pwrCtrlCoreHk.coulombCounterCharge.setValid(false); } } - // store time for next run - oldTime = now; return; } - result = calculateCoulombCounterCharge(); + result = calculateCoulombCounterCharge(timeDelta); if (result != returnvalue::OK) { // notifying events have already been triggered { @@ -215,8 +216,6 @@ void PowerController::calculateStateOfCharge() { pwrCtrlCoreHk.coulombCounterCharge.setValid(false); } } - // store time for next run - oldTime = now; return; } @@ -231,8 +230,6 @@ void PowerController::calculateStateOfCharge() { pwrCtrlCoreHk.setValidity(true, true); } } - // store time for next run - oldTime = now; } void PowerController::watchStateOfCharge() { @@ -285,12 +282,14 @@ ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() { return returnvalue::OK; } -ReturnValue_t PowerController::calculateCoulombCounterCharge() { - double timeDiff = timevalOperations::toDouble(now - oldTime); - if (timeDiff > maxAllowedTimeDiff) { +ReturnValue_t PowerController::calculateCoulombCounterCharge(double timeDelta) { + if (timeDelta == 0.0) { + return returnvalue::FAILED; + } + if (timeDelta > maxAllowedTimeDiff) { // should not be a permanent state so no spam protection required - triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast(timeDiff * 10)); - sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff + triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast(timeDelta * 10)); + sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDelta << std::endl; return returnvalue::FAILED; } @@ -298,7 +297,7 @@ ReturnValue_t PowerController::calculateCoulombCounterCharge() { coulombCounterCharge = openCircuitVoltageCharge; } else { coulombCounterCharge = - coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDiff * SECONDS_TO_HOURS; + coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDelta * SECONDS_TO_HOURS; if (coulombCounterCharge >= coulombCounterChargeUpperThreshold) { coulombCounterCharge = coulombCounterChargeUpperThreshold; } diff --git a/mission/controller/PowerController.h b/mission/controller/PowerController.h index b7c3d1a0..6df60732 100644 --- a/mission/controller/PowerController.h +++ b/mission/controller/PowerController.h @@ -45,7 +45,7 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM void calculateStateOfCharge(); void watchStateOfCharge(); ReturnValue_t calculateOpenCircuitVoltageCharge(); - ReturnValue_t calculateCoulombCounterCharge(); + ReturnValue_t calculateCoulombCounterCharge(double timeDelta); ReturnValue_t updateEpsData(); float charge2stateOfCharge(float capacity, bool coulombCounter); ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx, bool paramCmd); diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp index 7b867a46..a6ce6c5d 100644 --- a/mission/controller/acs/AcsParameters.cpp +++ b/mission/controller/acs/AcsParameters.cpp @@ -24,11 +24,20 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(onBoardParams.sampleTime); break; case 0x1: - parameterWrapper->set(onBoardParams.mekfViolationTimer); + parameterWrapper->set(onBoardParams.ptgCtrlLostTimer); break; case 0x2: parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse); break; + case 0x3: + parameterWrapper->set(onBoardParams.fusedRateFromStr); + break; + case 0x4: + parameterWrapper->set(onBoardParams.fusedRateFromQuest); + break; + case 0x5: + parameterWrapper->set(onBoardParams.questFilterWeight); + break; default: return INVALID_IDENTIFIER_ID; } @@ -425,6 +434,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, case 0x9: parameterWrapper->set(idleModeControllerParameters.enableAntiStiction); break; + case 0xA: + parameterWrapper->set(idleModeControllerParameters.useMekf); + break; default: return INVALID_IDENTIFIER_ID; } @@ -462,36 +474,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(targetModeControllerParameters.enableAntiStiction); break; case 0xA: - parameterWrapper->setVector(targetModeControllerParameters.refDirection); + parameterWrapper->set(targetModeControllerParameters.useMekf); break; case 0xB: - parameterWrapper->setVector(targetModeControllerParameters.refRotRate); + parameterWrapper->setVector(targetModeControllerParameters.refDirection); break; case 0xC: - parameterWrapper->setVector(targetModeControllerParameters.quatRef); + parameterWrapper->setVector(targetModeControllerParameters.refRotRate); break; case 0xD: - parameterWrapper->set(targetModeControllerParameters.timeElapsedMax); + parameterWrapper->setVector(targetModeControllerParameters.quatRef); break; case 0xE: - parameterWrapper->set(targetModeControllerParameters.latitudeTgt); + parameterWrapper->set(targetModeControllerParameters.timeElapsedMax); break; case 0xF: - parameterWrapper->set(targetModeControllerParameters.longitudeTgt); + parameterWrapper->set(targetModeControllerParameters.latitudeTgt); break; case 0x10: - parameterWrapper->set(targetModeControllerParameters.altitudeTgt); + parameterWrapper->set(targetModeControllerParameters.longitudeTgt); break; case 0x11: - parameterWrapper->set(targetModeControllerParameters.avoidBlindStr); + parameterWrapper->set(targetModeControllerParameters.altitudeTgt); break; case 0x12: - parameterWrapper->set(targetModeControllerParameters.blindAvoidStart); + parameterWrapper->set(targetModeControllerParameters.avoidBlindStr); break; case 0x13: - parameterWrapper->set(targetModeControllerParameters.blindAvoidStop); + parameterWrapper->set(targetModeControllerParameters.blindAvoidStart); break; case 0x14: + parameterWrapper->set(targetModeControllerParameters.blindAvoidStop); + break; + case 0x15: parameterWrapper->set(targetModeControllerParameters.blindRotRate); break; default: @@ -531,18 +546,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction); break; case 0xA: - parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection); + parameterWrapper->set(gsTargetModeControllerParameters.useMekf); break; case 0xB: - parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax); + parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection); break; case 0xC: - parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt); + parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax); break; case 0xD: - parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt); + parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt); break; case 0xE: + parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt); + break; + case 0xF: parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt); break; default: @@ -582,15 +600,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction); break; case 0xA: - parameterWrapper->setVector(nadirModeControllerParameters.refDirection); + parameterWrapper->set(nadirModeControllerParameters.useMekf); break; case 0xB: - parameterWrapper->setVector(nadirModeControllerParameters.quatRef); + parameterWrapper->setVector(nadirModeControllerParameters.refDirection); break; case 0xC: - parameterWrapper->setVector(nadirModeControllerParameters.refRotRate); + parameterWrapper->setVector(nadirModeControllerParameters.quatRef); break; case 0xD: + parameterWrapper->setVector(nadirModeControllerParameters.refRotRate); + break; + case 0xE: parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax); break; default: @@ -630,12 +651,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId, parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction); break; case 0xA: - parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat); + parameterWrapper->set(inertialModeControllerParameters.useMekf); break; case 0xB: - parameterWrapper->setVector(inertialModeControllerParameters.refRotRate); + parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat); break; case 0xC: + parameterWrapper->setVector(inertialModeControllerParameters.refRotRate); + break; + case 0xD: parameterWrapper->setVector(inertialModeControllerParameters.quatRef); break; default: diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index a9c9ab5d..f11a673b 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -18,8 +18,11 @@ class AcsParameters : public HasParametersIF { struct OnBoardParams { double sampleTime = 0.4; // [s] - uint16_t mekfViolationTimer = 750; + uint16_t ptgCtrlLostTimer = 750; uint8_t fusedRateSafeDuringEclipse = true; + uint8_t fusedRateFromStr = false; + uint8_t fusedRateFromQuest = false; + double questFilterWeight = 0.0; } onBoardParams; struct InertiaEIVE { @@ -75,9 +78,9 @@ class AcsParameters : public HasParametersIF { {-0.007534, 1.253879, 0.006812}, {-0.037072, 0.006812, 1.313158}}; - float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)}; - float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)}; - float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)}; + double mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)}; + double mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)}; + double mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)}; float mgmVectorFilterWeight = 0.85; float mgmDerivativeFilterWeight = 0.99; uint8_t useMgm4 = false; @@ -787,10 +790,10 @@ class AcsParameters : public HasParametersIF { /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is * assumed to be equal for the same class of sensors */ - float gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms - pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms - pow(6.1e-3, 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)}; + double gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms + pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms + pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms + double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)}; uint8_t preferAdis = false; float gyrFilterWeight = 0.6; } gyrHandlingParameters; @@ -861,6 +864,7 @@ class AcsParameters : public HasParametersIF { double deSatGainFactor = 1000; uint8_t desatOn = true; uint8_t enableAntiStiction = true; + uint8_t useMekf = false; } pointingLawParameters; struct IdleModeControllerParameters : PointingLawParameters { diff --git a/mission/controller/acs/AttitudeEstimation.cpp b/mission/controller/acs/AttitudeEstimation.cpp new file mode 100644 index 00000000..e287b22f --- /dev/null +++ b/mission/controller/acs/AttitudeEstimation.cpp @@ -0,0 +1,111 @@ +#include "AttitudeEstimation.h" + +AttitudeEstimation::AttitudeEstimation(AcsParameters *acsParameters_) { + acsParameters = acsParameters_; +} + +AttitudeEstimation::~AttitudeEstimation() {} + +void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData, + acsctrl::MgmDataProcessed *mgmData, + acsctrl::AttitudeEstimationData *attitudeEstimation) { + if (not(susData->susVecTot.isValid() and susData->sunIjkModel.isValid() and + mgmData->mgmVecTot.value and mgmData->magIgrfModel.isValid())) { + { + PoolReadGuard pg{attitudeEstimation}; + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(attitudeEstimation->quatQuest.value, ZERO_VEC4, 4 * sizeof(double)); + attitudeEstimation->quatQuest.setValid(false); + } + } + return; + } + + // Normalize Data + double normMgmB[3] = {0, 0, 0}, normMgmI[3] = {0, 0, 0}, normSusB[3] = {0, 0, 0}, + normSusI[3] = {0, 0, 0}; + VectorOperations::normalize(susData->susVecTot.value, normMgmB, 3); + VectorOperations::normalize(susData->sunIjkModel.value, normMgmI, 3); + VectorOperations::normalize(mgmData->mgmVecTot.value, normSusB, 3); + VectorOperations::normalize(mgmData->magIgrfModel.value, normSusI, 3); + + // Create Helper Vectors + double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0}, + helperSum[3] = {0, 0, 0}; + VectorOperations::cross(normSusB, normMgmB, normHelperB); + VectorOperations::cross(normSusI, normMgmI, normHelperI); + VectorOperations::normalize(normHelperB, normHelperB, 3); + VectorOperations::normalize(normHelperI, normHelperI, 3); + VectorOperations::cross(normHelperB, normHelperI, helperCross); + VectorOperations::add(normHelperB, normHelperI, helperSum, 3); + + // Sensor Weights + double kSus = 0, kMgm = 0; + kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSS, -2); + kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMAG, -2); + + // Weighted Vectors + double weightedSusB[3] = {0, 0, 0}, weightedMgmB[3] = {0, 0, 0}, kSusVec[3] = {0, 0, 0}, + kMgmVec[3] = {0, 0, 0}, kSumVec[3] = {0, 0, 0}; + VectorOperations::mulScalar(normSusB, kSus, weightedSusB, 3); + VectorOperations::mulScalar(normMgmB, kMgm, weightedMgmB, 3); + VectorOperations::cross(weightedSusB, normSusI, kSusVec); + VectorOperations::cross(weightedMgmB, normMgmI, kMgmVec); + VectorOperations::add(kSusVec, kMgmVec, kSumVec, 3); + + // Some weird Angles + double alpha = (1 + VectorOperations::dot(normHelperB, normHelperI)) * + (VectorOperations::dot(weightedSusB, normSusI) + + VectorOperations::dot(weightedMgmB, normMgmI)) + + VectorOperations::dot(helperCross, kSumVec); + double beta = VectorOperations::dot(helperSum, kSumVec); + double gamma = std::sqrt(std::pow(alpha, 2) + std::pow(beta, 2)); + + // I don't even know what this is supposed to be + double constPlus = + 1. / (2 * std::sqrt(gamma * (gamma + alpha) * + (1 + VectorOperations::dot(normHelperB, normHelperI)))); + double constMinus = + 1. / (2 * std::sqrt(gamma * (gamma - alpha) * + (1 + VectorOperations::dot(normHelperB, normHelperI)))); + + // Calculate Quaternion + double qBI[4] = {0, 0, 0, 0}, qRotVecTot[3] = {0, 0, 0}, qRotVecPt0[3] = {0, 0, 0}, + qRotVecPt1[3] = {0, 0, 0}; + if (alpha >= 0) { + // Scalar Part + qBI[3] = (gamma + alpha) * (1 + VectorOperations::dot(normHelperB, normHelperI)); + // Rotational Vector Part + VectorOperations::mulScalar(helperCross, gamma + alpha, qRotVecPt0, 3); + VectorOperations::add(normHelperB, normHelperI, qRotVecPt1, 3); + VectorOperations::mulScalar(qRotVecPt1, beta, qRotVecPt1, 3); + VectorOperations::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3); + std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot)); + + VectorOperations::mulScalar(qBI, constPlus, qBI, 3); + QuaternionOperations::normalize(qBI, qBI); + } else { + // Scalar Part + qBI[3] = (beta) * (1 + VectorOperations::dot(normHelperB, normHelperI)); + // Rotational Vector Part + VectorOperations::mulScalar(helperCross, beta, qRotVecPt0, 3); + VectorOperations::add(normHelperB, normHelperI, qRotVecPt1, 3); + VectorOperations::mulScalar(qRotVecPt1, gamma - alpha, qRotVecPt1, 3); + VectorOperations::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3); + std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot)); + + VectorOperations::mulScalar(qBI, constMinus, qBI, 3); + QuaternionOperations::normalize(qBI, qBI); + } + // Low Pass + if (VectorOperations::norm(qOld, 4) != 0.0) { + QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI); + } + { + PoolReadGuard pg{attitudeEstimation}; + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(attitudeEstimation->quatQuest.value, qBI, 4 * sizeof(double)); + attitudeEstimation->quatQuest.setValid(true); + } + } +} diff --git a/mission/controller/acs/AttitudeEstimation.h b/mission/controller/acs/AttitudeEstimation.h new file mode 100644 index 00000000..8f307cc4 --- /dev/null +++ b/mission/controller/acs/AttitudeEstimation.h @@ -0,0 +1,31 @@ +#ifndef MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ +#define MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ + +#include +#include +#include +#include +#include + +#include +#include + +class AttitudeEstimation { + public: + AttitudeEstimation(AcsParameters *acsParameters_); + virtual ~AttitudeEstimation(); + ; + + void quest(acsctrl::SusDataProcessed *susData, acsctrl::MgmDataProcessed *mgmData, + acsctrl::AttitudeEstimationData *attitudeEstimation); + + protected: + private: + AcsParameters *acsParameters; + + double qOld[4] = {0, 0, 0, 0}; + + static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0}; +}; + +#endif /* MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ */ diff --git a/mission/controller/acs/CMakeLists.txt b/mission/controller/acs/CMakeLists.txt index a8b0e9a6..4af05d8b 100644 --- a/mission/controller/acs/CMakeLists.txt +++ b/mission/controller/acs/CMakeLists.txt @@ -2,6 +2,7 @@ target_sources( ${LIB_EIVE_MISSION} PRIVATE AcsParameters.cpp ActuatorCmd.cpp + AttitudeEstimation.cpp FusedRotationEstimation.cpp Guidance.cpp Igrf13Model.cpp diff --git a/mission/controller/acs/FusedRotationEstimation.cpp b/mission/controller/acs/FusedRotationEstimation.cpp index 4f1dad45..b4d0f0c4 100644 --- a/mission/controller/acs/FusedRotationEstimation.cpp +++ b/mission/controller/acs/FusedRotationEstimation.cpp @@ -4,19 +4,220 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_) acsParameters = acsParameters_; } -void FusedRotationEstimation::estimateFusedRotationRateSafe( +void FusedRotationEstimation::estimateFusedRotationRate( acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed, - acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) { + acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues, + acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData, + acsctrl::FusedRotRateData *fusedRotRateData) { + estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData); + estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData); + estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed, + fusedRotRateSourcesData); + + if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and + acsParameters->onBoardParams.fusedRateFromStr) { + PoolReadGuard pg(fusedRotRateData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateData->rotRateOrthogonal.setValid(false); + std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateData->rotRateParallel.setValid(false); + std::memcpy(fusedRotRateData->rotRateTotal.value, + fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double)); + fusedRotRateData->rotRateTotal.setValid(true); + fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR; + fusedRotRateData->rotRateSource.setValid(true); + } + } else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and + acsParameters->onBoardParams.fusedRateFromQuest) { + PoolReadGuard pg(fusedRotRateData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateData->rotRateOrthogonal.setValid(false); + std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateData->rotRateParallel.setValid(false); + std::memcpy(fusedRotRateData->rotRateTotal.value, + fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double)); + fusedRotRateData->rotRateTotal.setValid(true); + fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST; + fusedRotRateData->rotRateSource.setValid(true); + } + } else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) { + std::memcpy(fusedRotRateData->rotRateOrthogonal.value, + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double)); + fusedRotRateData->rotRateOrthogonal.setValid( + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid()); + std::memcpy(fusedRotRateData->rotRateParallel.value, + fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double)); + fusedRotRateData->rotRateParallel.setValid( + fusedRotRateSourcesData->rotRateParallelSusMgm.isValid()); + std::memcpy(fusedRotRateData->rotRateTotal.value, + fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double)); + fusedRotRateData->rotRateTotal.setValid(true); + fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM; + fusedRotRateData->rotRateSource.setValid(true); + } else { + PoolReadGuard pg(fusedRotRateData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double)); + std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double)); + std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateData->setValidity(false, true); + fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE; + fusedRotRateData->rotRateSource.setValid(true); + } + } +} + +void FusedRotationEstimation::estimateFusedRotationRateStr( + ACS::SensorValues *sensorValues, const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) { + if (not(sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and + sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) { + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalStr.setValid(false); + } + } + std::memcpy(quatOldStr, ZERO_VEC4, sizeof(quatOldStr)); + return; + } + + double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value, + sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value}; + if (VectorOperations::norm(quatOldStr, 4) != 0 and timeDelta != 0) { + double quatOldInv[4] = {0, 0, 0, 0}; + double quatDelta[4] = {0, 0, 0, 0}; + + QuaternionOperations::inverse(quatOldStr, quatOldInv); + QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta); + if (VectorOperations::norm(quatDelta, 4) != 0.0) { + QuaternionOperations::normalize(quatDelta); + } + + double rotVec[3] = {0, 0, 0}; + double angle = QuaternionOperations::getAngle(quatDelta); + if (VectorOperations::norm(quatDelta, 3) == 0.0) { + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalStr.setValid(true); + } + } + std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr)); + return; + } + VectorOperations::normalize(quatDelta, rotVec, 3); + VectorOperations::mulScalar(rotVec, angle / timeDelta, rotVec, 3); + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, rotVec, 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalStr.setValid(true); + } + } + std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr)); + return; + } + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalStr.setValid(false); + } + } + std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr)); + return; +} + +void FusedRotationEstimation::estimateFusedRotationRateQuest( + acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) { + if (not attitudeEstimationData->quatQuest.isValid()) { + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalQuest.setValid(false); + } + } + std::memcpy(quatOldQuest, ZERO_VEC4, sizeof(quatOldQuest)); + } + + if (VectorOperations::norm(quatOldQuest, 4) != 0 and timeDelta != 0) { + double quatOldInv[4] = {0, 0, 0, 0}; + double quatDelta[4] = {0, 0, 0, 0}; + + QuaternionOperations::inverse(quatOldQuest, quatOldInv); + QuaternionOperations::multiply(attitudeEstimationData->quatQuest.value, quatOldInv, quatDelta); + if (VectorOperations::norm(quatDelta, 4) != 0.0) { + QuaternionOperations::normalize(quatDelta); + } + + double rotVec[3] = {0, 0, 0}; + double angle = QuaternionOperations::getAngle(quatDelta); + if (VectorOperations::norm(quatDelta, 3) == 0.0) { + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalQuest.setValid(true); + } + } + std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest)); + return; + } + VectorOperations::normalize(quatDelta, rotVec, 3); + VectorOperations::mulScalar(rotVec, angle / timeDelta, rotVec, 3); + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, rotVec, 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalQuest.setValid(true); + } + } + std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest)); + return; + } + { + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalQuest.setValid(false); + } + } + std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest)); + return; +} + +void FusedRotationEstimation::estimateFusedRotationRateSusMgm( + acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed, + acsctrl::GyrDataProcessed *gyrDataProcessed, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) { if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and - not fusedRotRateData->rotRateTotal.isValid()) or + not fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) or (not susDataProcessed->susVecTotDerivative.isValid() and not mgmDataProcessed->mgmVecTotDerivative.isValid())) { { - PoolReadGuard pg(fusedRotRateData); - std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double)); - fusedRotRateData->setValidity(false, true); + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false); + } } // store for calculation of angular acceleration if (gyrDataProcessed->gyrVecTot.isValid()) { @@ -25,7 +226,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe( return; } if (not susDataProcessed->susVecTot.isValid()) { - estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData); + estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData); // store for calculation of angular acceleration if (gyrDataProcessed->gyrVecTot.isValid()) { std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double)); @@ -49,7 +250,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe( VectorOperations::mulScalar(susDataProcessed->susVecTot.value, omegaParallel, fusedRotRateParallel, 3); } else { - estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData); + estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData); // store for calculation of angular acceleration if (gyrDataProcessed->gyrVecTot.isValid()) { std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double)); @@ -71,12 +272,18 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe( VectorOperations::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal); { - PoolReadGuard pg(fusedRotRateData); - std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal, - 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double)); - fusedRotRateData->setValidity(true, true); + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, fusedRotRateOrthogonal, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(true); + std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, fusedRotRateParallel, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(true); + std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true); + } } // store for calculation of angular acceleration @@ -86,31 +293,44 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe( } void FusedRotationEstimation::estimateFusedRotationRateEclipse( - acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) { + acsctrl::GyrDataProcessed *gyrDataProcessed, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) { if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or not gyrDataProcessed->gyrVecTot.isValid() or - VectorOperations::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) { + VectorOperations::norm(fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3) == 0) { { - PoolReadGuard pg(fusedRotRateData); - std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double)); - std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double)); - fusedRotRateData->setValidity(false, true); + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false); + } } return; } double angAccelB[3] = {0, 0, 0}; VectorOperations::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3); double fusedRotRateTotal[3] = {0, 0, 0}; - VectorOperations::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal, - 3); + VectorOperations::add(fusedRotRateSourcesData->rotRateTotalSusMgm.value, angAccelB, + fusedRotRateTotal, 3); { - PoolReadGuard pg(fusedRotRateData); - std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double)); - fusedRotRateData->rotRateOrthogonal.setValid(false); - std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double)); - fusedRotRateData->rotRateParallel.setValid(false); - std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double)); - fusedRotRateData->rotRateTotal.setValid(true); + PoolReadGuard pg(fusedRotRateSourcesData); + if (pg.getReadResult() == returnvalue::OK) { + std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false); + std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal, + 3 * sizeof(double)); + fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true); + } } } diff --git a/mission/controller/acs/FusedRotationEstimation.h b/mission/controller/acs/FusedRotationEstimation.h index fa4fda1c..2fc2ab8f 100644 --- a/mission/controller/acs/FusedRotationEstimation.h +++ b/mission/controller/acs/FusedRotationEstimation.h @@ -2,28 +2,46 @@ #define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ #include +#include #include #include +#include #include class FusedRotationEstimation { public: FusedRotationEstimation(AcsParameters *acsParameters_); - void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed, - acsctrl::MgmDataProcessed *mgmDataProcessed, - acsctrl::GyrDataProcessed *gyrDataProcessed, - acsctrl::FusedRotRateData *fusedRotRateData); + void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed, + acsctrl::MgmDataProcessed *mgmDataProcessed, + acsctrl::GyrDataProcessed *gyrDataProcessed, + ACS::SensorValues *sensorValues, + acsctrl::AttitudeEstimationData *attitudeEstimationData, + const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData, + acsctrl::FusedRotRateData *fusedRotRateData); protected: private: - static constexpr double ZERO_VEC[3] = {0, 0, 0}; + static constexpr double ZERO_VEC3[3] = {0, 0, 0}; + static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0}; AcsParameters *acsParameters; + double quatOldQuest[4] = {0, 0, 0, 0}; + double quatOldStr[4] = {0, 0, 0, 0}; double rotRateOldB[3] = {0, 0, 0}; + void estimateFusedRotationRateSusMgm(acsctrl::SusDataProcessed *susDataProcessed, + acsctrl::MgmDataProcessed *mgmDataProcessed, + acsctrl::GyrDataProcessed *gyrDataProcessed, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData); void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed, - acsctrl::FusedRotRateData *fusedRotRateData); + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData); + void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData, + const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData); + void estimateFusedRotationRateStr(ACS::SensorValues *sensorValues, const double timeDelta, + acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData); }; #endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */ diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 1d82d317..0be636ad 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -4,21 +4,21 @@ #include #include #include -#include +#include +#include #include - -#include "string.h" -#include "util/CholeskyDecomposition.h" -#include "util/MathOperations.h" +#include Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; } Guidance::~Guidance() {} -void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], - double sunDirI[3], double refDirB[3], double quatBI[4], - double targetQuat[4], double targetSatRotRate[3]) { +[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], + double velSatE[3], double sunDirI[3], + double refDirB[3], double quatBI[4], + double targetQuat[4], + double targetSatRotRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion to groundstation or given latitude, longitude and altitude //------------------------------------------------------------------------------------- @@ -38,7 +38,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - MathOperations::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); + MathOperations::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot); MathOperations::inverseMatrixDimThree(*dcmEI, *dcmIE); double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -136,8 +136,9 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve QuaternionOperations::multiply(quatIB, targetQuat, targetQuat); } -void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], - double targetQuat[4], double targetSatRotRate[3]) { +void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, + double posSatE[3], double velSatE[3], double targetQuat[4], + double targetSatRotRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion for target pointing //------------------------------------------------------------------------------------- @@ -154,7 +155,7 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - MathOperations::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); + MathOperations::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot); MathOperations::inverseMatrixDimThree(*dcmEI, *dcmIE); double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -199,11 +200,12 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel QuaternionOperations::fromDcm(dcmIX, targetQuat); int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax; - targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate); + targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate); } -void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], - double targetQuat[4], double targetSatRotRate[3]) { +void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, + double posSatE[3], double sunDirI[3], double targetQuat[4], + double targetSatRotRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion for ground station pointing //------------------------------------------------------------------------------------- @@ -221,7 +223,7 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3] double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - MathOperations::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); + MathOperations::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot); MathOperations::inverseMatrixDimThree(*dcmEI, *dcmIE); double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -263,10 +265,10 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3] QuaternionOperations::fromDcm(dcmTgt, targetQuat); int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax; - targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate); + targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate); } -void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4], +void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4], double targetSatRotRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion to sun @@ -298,12 +300,13 @@ void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQua // Calculation of reference rotation rate //---------------------------------------------------------------------------- int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax; - targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate); + targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate); } -void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4], - double targetQuat[4], double refDirB[3], - double refSatRate[3]) { +[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, + double posSatE[3], double quatBI[4], + double targetQuat[4], double refDirB[3], + double refSatRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion for Nadir pointing //------------------------------------------------------------------------------------- @@ -314,7 +317,7 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - MathOperations::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); + MathOperations::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot); MathOperations::inverseMatrixDimThree(*dcmEI, *dcmIE); double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -362,7 +365,8 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub QuaternionOperations::multiply(quatIB, targetQuat, targetQuat); } -void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3], +void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta, + double posSatE[3], double velSatE[3], double targetQuat[4], double refSatRate[3]) { //------------------------------------------------------------------------------------- // Calculation of target quaternion for Nadir pointing @@ -371,7 +375,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; - MathOperations::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); + MathOperations::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot); MathOperations::inverseMatrixDimThree(*dcmEI, *dcmIE); double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; @@ -407,7 +411,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl QuaternionOperations::fromDcm(dcmTgt, targetQuat); int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax; - targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate); + targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate); } void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], @@ -448,23 +452,21 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do VectorOperations::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3); } -void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], - double *refSatRate) { +void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta, + double quatInertialTarget[4], double *refSatRate) { //------------------------------------------------------------------------------------- // Calculation of target rotation rate //------------------------------------------------------------------------------------- - double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 - - (timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6); if (VectorOperations::norm(savedQuaternion, 4) == 0) { std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion)); } - if (timeElapsed < timeElapsedMax) { + if (timeDelta < timeElapsedMax and timeDelta != 0.0) { double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0}; QuaternionOperations::inverse(quatInertialTarget, q); QuaternionOperations::inverse(savedQuaternion, qS); double qDiff[4] = {0, 0, 0, 0}; VectorOperations::subtract(q, qS, qDiff, 4); - VectorOperations::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4); + VectorOperations::mulScalar(qDiff, 1. / timeDelta, qDiff, 4); double tgtQuatVec[3] = {q[0], q[1], q[2]}; double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]}; @@ -488,33 +490,29 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua refSatRate[2] = 0; } - timeSavedQuaternion = now; - savedQuaternion[0] = quatInertialTarget[0]; - savedQuaternion[1] = quatInertialTarget[1]; - savedQuaternion[2] = quatInertialTarget[2]; - savedQuaternion[3] = quatInertialTarget[3]; + std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion)); } ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) { - bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()); - bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()); - bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()); - bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid()); + bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid()); + bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid()); + bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid()); + bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid()); - if (rw1valid && rw2valid && rw3valid && rw4valid) { + if (rw1valid and rw2valid and rw3valid and rw4valid) { std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double)); return returnvalue::OK; - } else if (!rw1valid && rw2valid && rw3valid && rw4valid) { + } else if (not rw1valid and rw2valid and rw3valid and rw4valid) { std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double)); return returnvalue::OK; - } else if (rw1valid && !rw2valid && rw3valid && rw4valid) { + } else if (rw1valid and not rw2valid and rw3valid and rw4valid) { std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double)); return returnvalue::OK; - } else if (rw1valid && rw2valid && !rw3valid && rw4valid) { + } else if (rw1valid and rw2valid and not rw3valid and rw4valid) { std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double)); return returnvalue::OK; - } else if (rw1valid && rw2valid && rw3valid && !rw4valid) { + } else if (rw1valid and rw2valid and rw3valid and not rw4valid) { std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double)); return returnvalue::OK; } else { diff --git a/mission/controller/acs/Guidance.h b/mission/controller/acs/Guidance.h index 7b81e411..1cf5b8a9 100644 --- a/mission/controller/acs/Guidance.h +++ b/mission/controller/acs/Guidance.h @@ -17,25 +17,26 @@ class Guidance { // Function to get the target quaternion and reference rotation rate from gps position and // position of the ground station - void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3], - double refDirB[3], double quatBI[4], double targetQuat[4], - double targetSatRotRate[3]); - void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4], - double targetSatRotRate[3]); - void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4], - double targetSatRotRate[3]); + void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3], + double sunDirI[3], double refDirB[3], double quatBI[4], + double targetQuat[4], double targetSatRotRate[3]); + void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3], + double velSatE[3], double quatIX[4], double targetSatRotRate[3]); + void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3], + double sunDirI[3], double quatIX[4], double targetSatRotRate[3]); // Function to get the target quaternion and reference rotation rate for sun pointing after ground // station - void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4], + void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4], double targetSatRotRate[3]); // Function to get the target quaternion and refence rotation rate from gps position for Nadir // pointing - void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4], + void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4], double targetQuat[4], double refDirB[3], double refSatRate[3]); - void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3], - double targetQuat[4], double refSatRate[3]); + void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta, + double posSatE[3], double velSatE[3], double targetQuat[4], + double refSatRate[3]); // @note: Calculates the error quaternion between the current orientation and the target // quaternion, considering a reference quaternion. Additionally the difference between the actual @@ -48,8 +49,8 @@ class Guidance { double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3], double &errorAngle); - void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], - double *targetSatRotRate); + void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta, + double quatInertialTarget[4], double *targetSatRotRate); // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid // reation wheel maybe can be done in "commanding.h" @@ -59,7 +60,6 @@ class Guidance { const AcsParameters *acsParameters; bool strBlindAvoidFlag = false; - timeval timeSavedQuaternion; double savedQuaternion[4] = {0, 0, 0, 0}; double omegaRefSaved[3] = {0, 0, 0}; diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp index 0f297b21..ba878034 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp +++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp @@ -19,7 +19,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {} ReturnValue_t MultiplicativeKalmanFilter::init( const double *magneticField_, const bool validMagField_, const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel, const double *magFieldJ, - const bool validMagModel, acsctrl::MekfData *mekfData, + const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters) { // valids for "model measurements"? // check for valid mag/sun if (validMagField_ && validSS && validSSModel && validMagModel) { @@ -191,7 +191,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst( const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_, const bool validGYRs_, const double *magneticField_, const bool validMagField_, const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel, - const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData, + const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters) { // Check for GYR Measurements int MDF = 0; // Matrix Dimension Factor @@ -1090,7 +1090,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst( return MEKF_RUNNING; } -ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) { +ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::AttitudeEstimationData *mekfData) { double resetQuaternion[4] = {0, 0, 0, 1}; double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}; @@ -1100,7 +1100,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) { return MEKF_UNINITIALIZED; } -void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData, +void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus) { { PoolReadGuard pg(mekfData); @@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek } } -void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, - double quat[4], double satRotRate[3]) { +void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData, + MekfStatus mekfStatus, double quat[4], + double satRotRate[3]) { { PoolReadGuard pg(mekfData); if (pg.getReadResult() == returnvalue::OK) { diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.h b/mission/controller/acs/MultiplicativeKalmanFilter.h index 5a878c4b..09fad744 100644 --- a/mission/controller/acs/MultiplicativeKalmanFilter.h +++ b/mission/controller/acs/MultiplicativeKalmanFilter.h @@ -21,7 +21,7 @@ class MultiplicativeKalmanFilter { MultiplicativeKalmanFilter(); virtual ~MultiplicativeKalmanFilter(); - ReturnValue_t reset(acsctrl::MekfData *mekfData); + ReturnValue_t reset(acsctrl::AttitudeEstimationData *mekfData); /* @brief: init() - This function initializes the Kalman Filter and will provide the first * quaternion through the QUEST algorithm @@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter { */ ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel, - const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData, - AcsParameters *acsParameters); + const double *magFieldJ, const bool validMagModel, + acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters); /* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter * for the current step after the initalization @@ -53,7 +53,7 @@ class MultiplicativeKalmanFilter { const bool validGYRs_, const double *magneticField_, const bool validMagField_, const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel, const double *magFieldJ, - const bool validMagModel, acsctrl::MekfData *mekfData, + const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters); enum MekfStatus : uint8_t { @@ -99,9 +99,9 @@ class MultiplicativeKalmanFilter { double biasGYR[3]; /*Between measured and estimated sat Rate*/ /*Parameter INIT*/ /*Functions*/ - void updateDataSetWithoutData(acsctrl::MekfData *mekfData, MekfStatus mekfStatus); - void updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, double quat[4], - double satRotRate[3]); + void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus); + void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, + double quat[4], double satRotRate[3]); }; #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */ diff --git a/mission/controller/acs/Navigation.cpp b/mission/controller/acs/Navigation.cpp index 4726586b..624f4cea 100644 --- a/mission/controller/acs/Navigation.cpp +++ b/mission/controller/acs/Navigation.cpp @@ -16,7 +16,8 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::SusDataProcessed *susDataProcessed, - acsctrl::MekfData *mekfData, AcsParameters *acsParameters) { + acsctrl::AttitudeEstimationData *mekfData, + AcsParameters *acsParameters) { double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value, sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value}; bool quatIBValid = sensorValues->strSet.isTrustWorthy.value; @@ -41,7 +42,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues, } } -void Navigation::resetMekf(acsctrl::MekfData *mekfData) { +void Navigation::resetMekf(acsctrl::AttitudeEstimationData *mekfData) { mekfStatus = multiplicativeKalmanFilter.reset(mekfData); } @@ -54,7 +55,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat { PoolReadGuard pg(gpsDataProcessed); if (pg.getReadResult() == returnvalue::OK) { - gpsDataProcessed->source = acs::GpsSource::SPG4; + gpsDataProcessed->source = acs::gps::Source::SPG4; gpsDataProcessed->source.setValid(true); std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double)); gpsDataProcessed->gpsPosition.setValid(true); @@ -66,7 +67,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat { PoolReadGuard pg(gpsDataProcessed); if (pg.getReadResult() == returnvalue::OK) { - gpsDataProcessed->source = acs::GpsSource::NONE; + gpsDataProcessed->source = acs::gps::Source::NONE; gpsDataProcessed->source.setValid(true); std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double)); gpsDataProcessed->gpsPosition.setValid(false); diff --git a/mission/controller/acs/Navigation.h b/mission/controller/acs/Navigation.h index 2785ff2e..9f29c4f2 100644 --- a/mission/controller/acs/Navigation.h +++ b/mission/controller/acs/Navigation.h @@ -17,9 +17,9 @@ class Navigation { ReturnValue_t useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed, - acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData, - AcsParameters *acsParameters); - void resetMekf(acsctrl::MekfData *mekfData); + acsctrl::SusDataProcessed *susDataProcessed, + acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters); + void resetMekf(acsctrl::AttitudeEstimationData *mekfData); ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed); ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2); diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp index 4405790c..43582f18 100644 --- a/mission/controller/acs/SensorProcessing.cpp +++ b/mission/controller/acs/SensorProcessing.cpp @@ -7,7 +7,7 @@ SensorProcessing::~SensorProcessing() {} void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid, const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid, const float *mgm4Value, - bool mgm4valid, timeval timeOfMgmMeasurement, + bool mgm4valid, timeval timeAbsolute, double timeDelta, const AcsParameters::MgmHandlingParameters *mgmParameters, acsctrl::GpsDataProcessed *gpsDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed) { @@ -15,14 +15,14 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const // ------------------------------------------------ double magIgrfModel[3] = {0.0, 0.0, 0.0}; bool gpsValid = false; - if (gpsDataProcessed->source.value != acs::GpsSource::NONE) { + if (gpsDataProcessed->source.value != acs::gps::Source::NONE) { + // There seems to be a bug here, which causes the model vector to drift until infinity, if the + // model class is not initialized new every time. Works for now, but should be investigated. Igrf13Model igrf13; igrf13.schmidtNormalization(); - igrf13.updateCoeffGH(timeOfMgmMeasurement); - // maybe put a condition here, to only update after a full day, this - // class function has around 700 steps to perform + igrf13.updateCoeffGH(timeAbsolute); igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value, - gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel); + gpsDataProcessed->altitude.value, timeAbsolute, magIgrfModel); gpsValid = true; } if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and @@ -129,14 +129,12 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const //-----------------------Mgm Rate Computation --------------------------------------------------- double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0}; bool mgmVecTotDerivativeValid = false; - double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst); - if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0 and - VectorOperations::norm(savedMgmVecTot, 3) != 0) { + if (timeDelta > 0 and VectorOperations::norm(savedMgmVecTot, 3) != 0) { VectorOperations::subtract(mgmVecTot, savedMgmVecTot, mgmVecTotDerivative, 3); - VectorOperations::mulScalar(mgmVecTotDerivative, 1. / timeDiff, mgmVecTotDerivative, 3); + VectorOperations::mulScalar(mgmVecTotDerivative, 1. / timeDelta, mgmVecTotDerivative, + 3); mgmVecTotDerivativeValid = true; } - timeOfSavedMagFieldEst = timeOfMgmMeasurement; std::memcpy(savedMgmVecTot, mgmVecTot, sizeof(savedMgmVecTot)); if (VectorOperations::norm(mgmVecTotDerivative, 3) != 0 and @@ -177,11 +175,12 @@ void SensorProcessing::processSus( const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid, const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid, - timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters, + timeval timeAbsolute, double timeDelta, + const AcsParameters::SusHandlingParameters *susParameters, const AcsParameters::SunModelParameters *sunModelParameters, acsctrl::SusDataProcessed *susDataProcessed) { /* -------- Sun Model Direction (IJK frame) ------- */ - double JD2000 = MathOperations::convertUnixToJD2000(timeOfSusMeasurement); + double JD2000 = MathOperations::convertUnixToJD2000(timeAbsolute); // Julean Centuries double sunIjkModel[3] = {0.0, 0.0, 0.0}; @@ -354,11 +353,10 @@ void SensorProcessing::processSus( double susVecTotDerivative[3] = {0.0, 0.0, 0.0}; bool susVecTotDerivativeValid = false; - double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst); - if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0 and - VectorOperations::norm(savedSusVecTot, 3) != 0) { + if (timeDelta > 0 and VectorOperations::norm(savedSusVecTot, 3) != 0) { VectorOperations::subtract(susVecTot, savedSusVecTot, susVecTotDerivative, 3); - VectorOperations::mulScalar(susVecTotDerivative, 1. / timeDiff, susVecTotDerivative, 3); + VectorOperations::mulScalar(susVecTotDerivative, 1. / timeDelta, susVecTotDerivative, + 3); susVecTotDerivativeValid = true; } std::memcpy(savedSusVecTot, susVecTot, sizeof(savedSusVecTot)); @@ -367,7 +365,6 @@ void SensorProcessing::processSus( lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value, susParameters->susRateFilterWeight); } - timeOfSavedSusDirEst = timeOfSusMeasurement; { PoolReadGuard pg(susDataProcessed); if (pg.getReadResult() == returnvalue::OK) { @@ -414,7 +411,7 @@ void SensorProcessing::processGyr( const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid, - timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters, + const AcsParameters::GyrHandlingParameters *gyrParameters, acsctrl::GyrDataProcessed *gyrDataProcessed) { bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid); bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid); @@ -521,16 +518,16 @@ void SensorProcessing::processGyr( } void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude, - const double gpsAltitude, const double gpsUnixSeconds, + const double gpsAltitude, const double timeDelta, const bool validGps, const AcsParameters::GpsParameters *gpsParameters, acsctrl::GpsDataProcessed *gpsDataProcessed) { // init variables double gdLongitude = 0, gdLatitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0}; - uint8_t gpsSource = acs::GpsSource::NONE; + uint8_t gpsSource = acs::gps::Source::NONE; // We do not trust the GPS and therefore it shall die here if SPG4 is running - if (gpsDataProcessed->source.value == acs::GpsSource::SPG4 and gpsParameters->useSpg4) { + if (gpsDataProcessed->source.value == acs::gps::Source::SPG4 and gpsParameters->useSpg4) { MathOperations::latLongAltFromCartesian(gpsDataProcessed->gpsPosition.value, gdLatitude, gdLongitude, altitude); double factor = 1 - pow(ECCENTRICITY_WGS84, 2); @@ -563,21 +560,17 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong // Calculation of the satellite velocity in earth fixed frame double deltaDistance[3] = {0, 0, 0}; MathOperations::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE); - if (validSavedPosSatE and - (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and - (gpsUnixSeconds - timeOfSavedPosSatE) > 0) { + if (validSavedPosSatE and timeDelta < (gpsParameters->timeDiffVelocityMax) and timeDelta > 0) { VectorOperations::subtract(posSatE, savedPosSatE, deltaDistance, 3); - double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE; - VectorOperations::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3); + VectorOperations::mulScalar(deltaDistance, 1. / timeDelta, gpsVelocityE, 3); } savedPosSatE[0] = posSatE[0]; savedPosSatE[1] = posSatE[1]; savedPosSatE[2] = posSatE[2]; - timeOfSavedPosSatE = gpsUnixSeconds; validSavedPosSatE = true; - gpsSource = acs::GpsSource::GPS; + gpsSource = acs::gps::Source::GPS; } { PoolReadGuard pg(gpsDataProcessed); @@ -594,13 +587,15 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong } } -void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues, +void SensorProcessing::process(timeval timeAbsolute, double timeDelta, + ACS::SensorValues *sensorValues, acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::SusDataProcessed *susDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters) { sensorValues->update(); + processGps( sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value, sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value, @@ -617,7 +612,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues, sensorValues->mgm3Rm3100Set.fieldStrengths.value, sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(), sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(), - now, &acsParameters->mgmHandlingParameters, gpsDataProcessed, mgmDataProcessed); + timeAbsolute, timeDelta, &acsParameters->mgmHandlingParameters, gpsDataProcessed, + mgmDataProcessed); processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(), sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(), @@ -631,8 +627,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues, sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(), sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(), sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(), - now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters, - susDataProcessed); + timeAbsolute, timeDelta, &acsParameters->susHandlingParameters, + &acsParameters->sunModelParameters, susDataProcessed); processGyr( sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(), @@ -646,7 +642,7 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues, sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(), sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(), sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(), - sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now, + sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), &acsParameters->gyrHandlingParameters, gyrDataProcessed); } diff --git a/mission/controller/acs/SensorProcessing.h b/mission/controller/acs/SensorProcessing.h index 77ff2869..fea0fd01 100644 --- a/mission/controller/acs/SensorProcessing.h +++ b/mission/controller/acs/SensorProcessing.h @@ -24,22 +24,21 @@ class SensorProcessing { SensorProcessing(); virtual ~SensorProcessing(); - void process(timeval now, ACS::SensorValues *sensorValues, + void process(timeval timeAbsolute, double timeDelta, ACS::SensorValues *sensorValues, acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::SusDataProcessed *susDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed, - acsctrl::GpsDataProcessed *gpsDataProcessed, - const AcsParameters *acsParameters); // Will call protected functions + acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters); + private: static constexpr float ZERO_VEC_F[3] = {0, 0, 0}; static constexpr double ZERO_VEC_D[3] = {0, 0, 0}; static constexpr double ECCENTRICITY_WGS84 = 0.0818195; protected: - // short description needed for every function void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid, const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid, - const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement, + const float *mgm4Value, bool mgm4valid, timeval timeAbsolute, double timeDelta, const AcsParameters::MgmHandlingParameters *mgmParameters, acsctrl::GpsDataProcessed *gpsDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed); @@ -52,7 +51,7 @@ class SensorProcessing { bool sus7valid, const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid, - timeval timeOfSusMeasurement, + timeval timeAbsolute, double timeDelta, const AcsParameters::SusHandlingParameters *susParameters, const AcsParameters::SunModelParameters *sunModelParameters, acsctrl::SusDataProcessed *susDataProcessed); @@ -65,7 +64,6 @@ class SensorProcessing { bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid, - timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters, acsctrl::GyrDataProcessed *gyrDataProcessed); @@ -77,13 +75,9 @@ class SensorProcessing { void lowPassFilter(double *newValue, double *oldValue, const double weight); double savedMgmVecTot[3] = {0.0, 0.0, 0.0}; - timeval timeOfSavedMagFieldEst; double savedSusVecTot[3] = {0.0, 0.0, 0.0}; - timeval timeOfSavedSusDirEst; - bool validMagField = false; double savedPosSatE[3] = {0.0, 0.0, 0.0}; - double timeOfSavedPosSatE = 0.0; bool validSavedPosSatE = false; SusConverter susConverter; diff --git a/mission/controller/acs/control/Detumble.cpp b/mission/controller/acs/control/Detumble.cpp index 8f422ec1..408c30e1 100644 --- a/mission/controller/acs/control/Detumble.cpp +++ b/mission/controller/acs/control/Detumble.cpp @@ -7,18 +7,18 @@ Detumble::Detumble() {} Detumble::~Detumble() {} -acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid, - const bool satRotRateValid, - const bool magFieldRateValid, - const bool useFullDetumbleLaw) { +acs::ControlModeStrategy Detumble::detumbleStrategy(const bool magFieldValid, + const bool satRotRateValid, + const bool magFieldRateValid, + const bool useFullDetumbleLaw) { if (not magFieldValid) { - return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (satRotRateValid and useFullDetumbleLaw) { - return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL; + return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL; } else if (magFieldRateValid) { - return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED; + return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED; } else { - return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } } diff --git a/mission/controller/acs/control/Detumble.h b/mission/controller/acs/control/Detumble.h index 9fca77e6..851e4541 100644 --- a/mission/controller/acs/control/Detumble.h +++ b/mission/controller/acs/control/Detumble.h @@ -11,9 +11,9 @@ class Detumble { Detumble(); virtual ~Detumble(); - acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, - const bool magFieldRateValid, - const bool useFullDetumbleLaw); + acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, + const bool magFieldRateValid, + const bool useFullDetumbleLaw); void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB, double gain); diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp index 2f5847cc..eb510c53 100644 --- a/mission/controller/acs/control/PtgCtrl.cpp +++ b/mission/controller/acs/control/PtgCtrl.cpp @@ -10,6 +10,22 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_ PtgCtrl::~PtgCtrl() {} +acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy( + const bool magFieldValid, const bool mekfValid, const bool strValid, const bool questValid, + const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) { + if (not magFieldValid) { + return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; + } else if (mekfEnabled and mekfValid) { + return acs::ControlModeStrategy::PTGCTRL_MEKF; + } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { + return acs::ControlModeStrategy::PTGCTRL_STR; + } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { + return acs::ControlModeStrategy::PTGCTRL_QUEST; + } else { + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; + } +} + void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *errorQuat, const double *deltaRate, const double *rwPseudoInv, double *torqueRws) { diff --git a/mission/controller/acs/control/PtgCtrl.h b/mission/controller/acs/control/PtgCtrl.h index 5f731e6b..a07849ec 100644 --- a/mission/controller/acs/control/PtgCtrl.h +++ b/mission/controller/acs/control/PtgCtrl.h @@ -2,6 +2,7 @@ #define PTGCTRL_H_ #include +#include #include #include #include @@ -9,7 +10,7 @@ class PtgCtrl { /* * @brief: This class handles the pointing control mechanism. Calculation of an commanded - * torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation + * torque for the reaction wheels, and magnetic Field strength for magnetorquer for desaturation * * @note: A description of the used algorithms can be found in * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110 @@ -21,6 +22,12 @@ class PtgCtrl { PtgCtrl(AcsParameters *acsParameters_); virtual ~PtgCtrl(); + acs::ControlModeStrategy pointingCtrlStrategy(const bool magFieldValid, const bool mekfValid, + const bool strValid, const bool questValid, + const bool fusedRateValid, + const uint8_t rotRateSource, + const uint8_t mekfEnabled); + /* @brief: Calculates the needed torque for the pointing control mechanism */ void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError, @@ -36,7 +43,7 @@ class PtgCtrl { const int32_t speedRw3, double *mgtDpDes); /* @brief: Commands the stiction torque in case wheel speed is to low - * torqueCommand modified torque after antistiction + * torqueCommand modified torque after anti-stiction */ void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed); diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp index de0cd197..972b7b92 100644 --- a/mission/controller/acs/control/SafeCtrl.cpp +++ b/mission/controller/acs/control/SafeCtrl.cpp @@ -9,40 +9,38 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter SafeCtrl::~SafeCtrl() {} -acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const bool fusedRateTotalValid, - const uint8_t mekfEnabled, - const uint8_t gyrEnabled, - const uint8_t dampingEnabled) { +acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy( + const bool magFieldValid, const bool mekfValid, const bool satRotRateValid, + const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled, + const uint8_t gyrEnabled, const uint8_t dampingEnabled) { if (not magFieldValid) { - return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (mekfEnabled and mekfValid) { - return acs::SafeModeStrategy::SAFECTRL_MEKF; + return acs::ControlModeStrategy::SAFECTRL_MEKF; } else if (sunDirValid) { if (gyrEnabled and satRotRateValid) { - return acs::SafeModeStrategy::SAFECTRL_GYR; + return acs::ControlModeStrategy::SAFECTRL_GYR; } else if (not gyrEnabled and fusedRateTotalValid) { - return acs::SafeModeStrategy::SAFECTRL_SUSMGM; + return acs::ControlModeStrategy::SAFECTRL_SUSMGM; } else { - return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } } else if (not sunDirValid) { if (dampingEnabled) { if (gyrEnabled and satRotRateValid) { - return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR; + return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR; } else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) { - return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM; + return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM; } else { - return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } } else if (not dampingEnabled and satRotRateValid) { - return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING; + return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING; } else { - return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } } else { - return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; + return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL; } } diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h index d35d5d04..e303f302 100644 --- a/mission/controller/acs/control/SafeCtrl.h +++ b/mission/controller/acs/control/SafeCtrl.h @@ -12,10 +12,11 @@ class SafeCtrl { SafeCtrl(AcsParameters *acsParameters_); virtual ~SafeCtrl(); - acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const bool fusedRateTotalValid, const uint8_t mekfEnabled, - const uint8_t gyrEnabled, const uint8_t dampingEnabled); + acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, + const bool satRotRateValid, const bool sunDirValid, + const bool fusedRateTotalValid, + const uint8_t mekfEnabled, const uint8_t gyrEnabled, + const uint8_t dampingEnabled); void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, const double *quatBI, const double *sunDirRefB, double *magMomB, diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h index b843ca0c..83a74552 100644 --- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h +++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h @@ -20,6 +20,7 @@ enum SetIds : uint32_t { CTRL_VAL_DATA, ACTUATOR_CMD_DATA, FUSED_ROTATION_RATE_DATA, + FUSED_ROTATION_RATE_SOURCES_DATA, TLE_SET, }; @@ -96,6 +97,7 @@ enum PoolIds : lp_id_t { SAT_ROT_RATE_MEKF, QUAT_MEKF, MEKF_STATUS, + QUAT_QUEST, // Ctrl Values SAFE_STRAT, TGT_QUAT, @@ -110,9 +112,13 @@ enum PoolIds : lp_id_t { ROT_RATE_ORTHOGONAL, ROT_RATE_PARALLEL, ROT_RATE_TOTAL, - // TLE - TLE_LINE_1, - TLE_LINE_2, + ROT_RATE_SOURCE, + // Fused Rotation Rate Sources + ROT_RATE_ORTHOGONAL_SUSMGM, + ROT_RATE_PARALLEL_SUSMGM, + ROT_RATE_TOTAL_SUSMGM, + ROT_RATE_TOTAL_QUEST, + ROT_RATE_TOTAL_STR, }; static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6; @@ -122,11 +128,11 @@ 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 = 6; -static constexpr uint8_t MEKF_SET_ENTRIES = 3; +static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4; static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5; static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3; -static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3; -static constexpr uint8_t TLE_SET_ENTRIES = 2; +static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4; +static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5; /** * @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status. @@ -250,13 +256,14 @@ class GpsDataProcessed : public StaticLocalDataSet { private: }; -class MekfData : public StaticLocalDataSet { +class AttitudeEstimationData : public StaticLocalDataSet { public: - MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {} + AttitudeEstimationData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {} lp_vec_t quatMekf = lp_vec_t(sid.objectId, QUAT_MEKF, this); lp_vec_t satRotRateMekf = lp_vec_t(sid.objectId, SAT_ROT_RATE_MEKF, this); lp_var_t mekfStatus = lp_var_t(sid.objectId, MEKF_STATUS, this); + lp_vec_t quatQuest = lp_vec_t(sid.objectId, QUAT_MEKF, this); private: }; @@ -295,16 +302,25 @@ class FusedRotRateData : public StaticLocalDataSet { lp_vec_t(sid.objectId, ROT_RATE_ORTHOGONAL, this); lp_vec_t rotRateParallel = lp_vec_t(sid.objectId, ROT_RATE_PARALLEL, this); lp_vec_t rotRateTotal = lp_vec_t(sid.objectId, ROT_RATE_TOTAL, this); + lp_var_t rotRateSource = lp_var_t(sid.objectId, ROT_RATE_SOURCE, this); private: }; -class TleData : public StaticLocalDataSet { +class FusedRotRateSourcesData : public StaticLocalDataSet { public: - TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {} + FusedRotRateSourcesData(HasLocalDataPoolIF* hkOwner) + : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_SOURCES_DATA) {} - lp_vec_t line1 = lp_vec_t(sid.objectId, TLE_LINE_1, this); - lp_vec_t line2 = lp_vec_t(sid.objectId, TLE_LINE_1, this); + lp_vec_t rotRateOrthogonalSusMgm = + lp_vec_t(sid.objectId, ROT_RATE_ORTHOGONAL_SUSMGM, this); + lp_vec_t rotRateParallelSusMgm = + lp_vec_t(sid.objectId, ROT_RATE_PARALLEL_SUSMGM, this); + lp_vec_t rotRateTotalSusMgm = + lp_vec_t(sid.objectId, ROT_RATE_TOTAL_SUSMGM, this); + lp_vec_t rotRateTotalQuest = + lp_vec_t(sid.objectId, ROT_RATE_TOTAL_QUEST, this); + lp_vec_t rotRateTotalStr = lp_vec_t(sid.objectId, ROT_RATE_TOTAL_STR, this); private: }; diff --git a/mission/system/acs/StrFdir.cpp b/mission/system/acs/StrFdir.cpp index 97a4162a..83bd27fa 100644 --- a/mission/system/acs/StrFdir.cpp +++ b/mission/system/acs/StrFdir.cpp @@ -6,7 +6,7 @@ StrFdir::StrFdir(object_id_t strObject) : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {} ReturnValue_t StrFdir::eventReceived(EventMessage* event) { - if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) { + if (event->getEvent() == acs::PTG_CTRL_NO_ATTITUDE_INFORMATION) { setFaulty(event->getEvent()); return returnvalue::OK; } diff --git a/mission/system/acs/acsModeTree.cpp b/mission/system/acs/acsModeTree.cpp index 185ad9eb..018418a4 100644 --- a/mission/system/acs/acsModeTree.cpp +++ b/mission/system/acs/acsModeTree.cpp @@ -106,7 +106,7 @@ Subsystem& satsystem::acs::init() { // Build TARGET PT transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); - iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); check(ACS_SUBSYSTEM.addTable( @@ -161,6 +161,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); + iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc); @@ -199,13 +200,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT, ACS_TABLE_SAFE_TGT.second, true); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true); check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc); // Build SAFE transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); @@ -256,13 +257,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); // Build IDLE transition 0 iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); @@ -306,8 +307,8 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build TARGET PT table iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), @@ -355,8 +356,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // Build TARGET PT table iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first, @@ -408,8 +409,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // Build TARGET PT table iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); check(ss.addTable( @@ -461,8 +462,10 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true); + iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, + true); + iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, + true); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, diff --git a/tmtc b/tmtc index 74e55b16..f63a834d 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 74e55b16dcca73023254493d911be3debc36adb2 +Subproject commit f63a834d9acd4506f0dbd7f8e63007f17c063c1d