Merge pull request 'Fixes for RW Commanding' (#852) from cmd-rw-fix into main

Reviewed-on: #852
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -29,6 +29,14 @@ will consitute of a breaking change warranting a new major release:
 - If the PCDU handler fails reading data from the IPC store, it will
   not try to do a deserialization anymore.
 - All action commands sent by the PLOC SUPV to itself will have no sender now.
+- RW speed commands get reset to 0 RPM, if the `AcsController` has changed its mode
+  to Safe
+- Antistiction for RWs will set commanded speed to 0 RPM, if a wheel is detected as not
+  working
+- Removed parameter to disable antistiction, as deactivating it would result in the
+  `AcsController` being allowed sending invalid speed commands to the RW Handler, which
+  would then trigger FDIR and turning off the functioning device
+- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase`
 
 # [v7.5.5] 2024-01-22
 

mission/acs/RwHandler.h

@@ -59,6 +59,7 @@ class RwHandler : public DeviceHandlerBase {
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
  private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
   //! the range of [-65000; 1000] or [1000; 65000]
   static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);

mission/controller/AcsController.cpp

@@ -445,7 +445,6 @@ void AcsController::performPointingCtrl() {
       break;
   }
 
-  uint8_t enableAntiStiction = true;
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
@@ -486,7 +485,6 @@ void AcsController::performPointingCtrl() {
           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:
@@ -510,7 +508,6 @@ void AcsController::performPointingCtrl() {
           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:
@@ -531,7 +528,6 @@ void AcsController::performPointingCtrl() {
           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:
@@ -555,7 +551,6 @@ void AcsController::performPointingCtrl() {
           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:
@@ -578,7 +573,6 @@ void AcsController::performPointingCtrl() {
           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:
       sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
@@ -590,9 +584,7 @@ void AcsController::performPointingCtrl() {
       sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
       acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
       acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
-  if (enableAntiStiction) {
   ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
-  }
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
 
@@ -885,6 +877,24 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
 }
 
 void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  if (mode == acs::AcsMode::SAFE) {
+    {
+      PoolReadGuard pg(&rw1SpeedSet);
+      rw1SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw2SpeedSet);
+      rw2SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw3SpeedSet);
+      rw3SpeedSet.setRwSpeed(0, 10);
+    }
+    {
+      PoolReadGuard pg(&rw4SpeedSet);
+      rw4SpeedSet.setRwSpeed(0, 10);
+    }
+  }
   return ExtendedControllerBase::modeChanged(mode, submode);
 }
 

mission/controller/acs/AcsParameters.cpp

@@ -432,9 +432,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(idleModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
           parameterWrapper->set(idleModeControllerParameters.useMekf);
           break;
         default:
@@ -471,42 +468,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(targetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
           parameterWrapper->set(targetModeControllerParameters.useMekf);
           break;
-        case 0xB:
+        case 0xA:
           parameterWrapper->setVector(targetModeControllerParameters.refDirection);
           break;
-        case 0xC:
+        case 0xB:
           parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
           break;
-        case 0xD:
+        case 0xC:
           parameterWrapper->setVector(targetModeControllerParameters.quatRef);
           break;
-        case 0xE:
+        case 0xD:
           parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
           break;
-        case 0xF:
+        case 0xE:
           parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
           break;
-        case 0x10:
+        case 0xF:
           parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
           break;
-        case 0x11:
+        case 0x10:
           parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
           break;
-        case 0x12:
+        case 0x11:
           parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
           break;
-        case 0x13:
+        case 0x12:
           parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
           break;
-        case 0x14:
+        case 0x13:
           parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
           break;
-        case 0x15:
+        case 0x14:
           parameterWrapper->set(targetModeControllerParameters.blindRotRate);
           break;
         default:
@@ -543,24 +537,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
           parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
           break;
-        case 0xB:
+        case 0xA:
           parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
           break;
-        case 0xC:
+        case 0xB:
           parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
           break;
-        case 0xD:
+        case 0xC:
           parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
           break;
-        case 0xE:
+        case 0xD:
           parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
           break;
-        case 0xF:
+        case 0xE:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
         default:
@@ -597,21 +588,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(nadirModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
           parameterWrapper->set(nadirModeControllerParameters.useMekf);
           break;
-        case 0xB:
+        case 0xA:
           parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
           break;
-        case 0xC:
+        case 0xB:
           parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
           break;
-        case 0xD:
+        case 0xC:
           parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
           break;
-        case 0xE:
+        case 0xD:
           parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
           break;
         default:
@@ -648,18 +636,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(inertialModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
-          break;
-        case 0xA:
           parameterWrapper->set(inertialModeControllerParameters.useMekf);
           break;
-        case 0xB:
+        case 0xA:
           parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
           break;
-        case 0xC:
+        case 0xB:
           parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
           break;
-        case 0xD:
+        case 0xC:
           parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
           break;
         default:

mission/controller/acs/AcsParameters.h

@@ -863,7 +863,6 @@ class AcsParameters : public HasParametersIF {
     double desatMomentumRef[3] = {0, 0, 0};
     double deSatGainFactor = 1000;
     uint8_t desatOn = true;
-    uint8_t enableAntiStiction = true;
     uint8_t useMekf = false;
   } pointingLawParameters;
 

mission/controller/acs/control/PtgCtrl.cpp

@@ -220,6 +220,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
           }
         }
       }
+    } else {
+      rwCmdSpeeds[i] = 0;
     }
   }
 }