Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage

CHANGELOG.md

@@ -26,6 +26,20 @@ will consitute of a breaking change warranting a new major release:
 
 - Changed format of `getCurrentMountPrefix` to return a `const char*`.
 
+## Fixed
+
+- ADIS1650X: Added missing MDL_RANG pool entry for configuration set
+
+# [v1.31.1]
+
+## Fixed
+
+- ADIS1650X configuration set was empty because the local pool variables were not registered.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/402
+- ACS Controller: Correction for size of MEKF dataset and some optimization and fixes
+  for actuator control which lead to a crash.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
+
 # [v1.31.0]
 
 eive-tmtc: v2.16.0

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
 set(OBSW_VERSION_MINOR 31)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

mission/controller/AcsController.cpp

@@ -432,15 +432,13 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
   return returnvalue::OK;
 }
 
-void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
+void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
-  double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
+  updateActuatorCmdData(RW_OFF_TORQUE, RW_OFF_SPEED, mtqTargetDipole);
-  int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
-  updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
 }
 
-void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
+void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
-                                          int16_t mtqTargetDipole[3]) {
+                                          const int32_t *rwTargetSpeed,
-  {
+                                          const int16_t *mtqTargetDipole) {
   PoolReadGuard pg(&actuatorCmdData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
@@ -448,27 +446,22 @@ void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTa
     std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
     actuatorCmdData.setValidity(true, true);
   }
-  }
 }
 
 void AcsController::updateCtrlValData(double errAng) {
-  double unitQuat[4] = {0, 0, 0, 1};
-  {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
     ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
     ctrlValData.errQuat.setValid(false);
     ctrlValData.errAng.value = errAng;
     ctrlValData.errAng.setValid(true);
     ctrlValData.setValidity(true, false);
   }
-  }
 }
 
-void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng) {
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
-  {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
@@ -476,21 +469,16 @@ void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], doub
     ctrlValData.errAng.value = errAng;
     ctrlValData.setValidity(true, true);
   }
-  }
 }
 
 void AcsController::disableCtrlValData() {
-  double unitQuat[4] = {0, 0, 0, 1};
-  double errAng = 0;
-  {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
-      ctrlValData.errAng.value = errAng;
+    ctrlValData.errAng.value = 0;
     ctrlValData.setValidity(false, true);
   }
-  }
 }
 
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,

mission/controller/AcsController.h

@@ -40,6 +40,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void performPointingCtrl();
 
  private:
+  static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
+  static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   Navigation navigation;
@@ -84,11 +88,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
-  void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
+  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
-  void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
+  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
-                             int16_t mtqTargetDipole[3]);
+                             const int16_t* mtqTargetDipole);
   void updateCtrlValData(double errAng);
-  void updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
   void disableCtrlValData();
 
   /* ACS Sensor Values */
@@ -187,7 +191,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> tgtQuat = PoolEntry<double>(4);
   PoolEntry<double> errQuat = PoolEntry<double>(4);
   PoolEntry<double> errAng = PoolEntry<double>();
-  PoolEntry<double> tgtRotRate = PoolEntry<double>(4);
+  PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
 
   // Actuator CMD
   acsctrl::ActuatorCmdData actuatorCmdData;

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -110,7 +110,7 @@ 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 = 4;
-static constexpr uint8_t MEKF_SET_ENTRIES = 2;
+static constexpr uint8_t MEKF_SET_ENTRIES = 3;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 4;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 

mission/devices/GyroADIS1650XHandler.cpp

@@ -385,6 +385,7 @@ ReturnValue_t GyroADIS1650XHandler::initializeLocalDataPool(localpool::DataPool
 
   localDataPoolMap.emplace(ADIS1650X::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
   localDataPoolMap.emplace(ADIS1650X::FILTER_SETTINGS, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(ADIS1650X::RANG_MDL, &rangMdl);
   localDataPoolMap.emplace(ADIS1650X::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
   localDataPoolMap.emplace(ADIS1650X::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
   poolManager.subscribeForRegularPeriodicPacket(

mission/devices/GyroADIS1650XHandler.h

@@ -63,6 +63,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   InternalState internalState = InternalState::STARTUP;
   bool commandExecuted = false;
 
+  PoolEntry<uint16_t> rangMdl = PoolEntry<uint16_t>();
+
   void prepareReadCommand(uint8_t *regList, size_t len);
 
   BurstModes getBurstMode();

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -147,11 +147,15 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
     setAllVariablesReadOnly();
   }
 
-  lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER);
+  lp_var_t<uint16_t> diagStatReg =
-  lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER, this);
-  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL);
+  lp_var_t<uint8_t> filterSetting =
-  lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
+      lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS, this);
-  lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);
+  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL, this);
+  lp_var_t<uint16_t> mscCtrlReg =
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER, this);
+  lp_var_t<uint16_t> decRateReg =
+      lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER, this);
 
  private:
   friend class GyroADIS1650XHandler;

mission/system/objects/ComSubsystem.h

@@ -17,8 +17,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
-   * 														will be
+   * 														will
-   * enabled
+   * be enabled
    */
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
                uint32_t transmitterTimeout);