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added calibration of raw MGM values
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Marius Eggert
2022-10-12 17:14:33 +02:00
parent 8edf7fc0de
commit cc35db91cd
2 changed files with 49 additions and 6 deletions
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36
mission/controller/acs/SensorProcessing.cpp
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@ -42,38 +42,62 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
validMagField = false;
return false;
}
// Transforming Values to the Body Frame (actually it is the geometry frame atm)
float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
mgm4ValueNoBias[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
bool validUnit[5] = {false, false, false, false, false};
uint8_t validCount = 0;
if (mgm0valid) {
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
mgm0ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
mgm0ValueBody, 3, 3, 1);
validCount += 1;
validUnit[0] = true;
}
if (mgm1valid) {
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
mgm1ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
mgm1ValueBody, 3, 3, 1);
validCount += 1;
validUnit[1] = true;
}
if (mgm2valid) {
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
mgm2ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
mgm2ValueBody, 3, 3, 1);
validCount += 1;
validUnit[2] = true;
}
if (mgm3valid) {
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
mgm3ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
mgm3ValueBody, 3, 3, 1);
validCount += 1;
validUnit[3] = true;
}
if (mgm4valid) {
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4Value,
VectorOperations<float>::subtract(mgm4Value, mgmParameters->mgm4hardIronOffset, mgm4ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
mgm4ValueBody, 3, 3, 1);
validCount += 1;
validUnit[4] = true;