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Merge branch 'dev-7.5.0' into higher-acs-modes-only-str
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Marius Eggert
2023-12-04 13:15:25 +01:00
parent 08d0619b11 64069aa5c1
commit d0588b144a
64 changed files with 2779 additions and 629 deletions
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28
mission/controller/AcsController.h
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@ -4,15 +4,18 @@
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/coordinates/Sgp4Propagator.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/acs/defs.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/config/torquer.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/AttitudeEstimation.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
@ -24,13 +27,18 @@
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/utility/trace.h>
#include <filesystem>
#include <fstream>
#include <optional>
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,
@ -51,6 +59,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
bool enableHkSets = false;
SdCardMountedIF& sdcMan;
timeval timeAbsolute;
timeval timeRelative;
double timeDelta = 0.0;
@ -95,10 +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;
@ -133,6 +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;
@ -256,11 +277,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);
// TLE Dataset
acsctrl::TleData tleData;
PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
};