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Merge branch 'eggert/acs' into marquardt/ptgCtrl
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# Conflicts:
#	mission/controller/AcsController.cpp
#	mission/controller/AcsController.h
#	mission/controller/acs/AcsParameters.h
#	mission/controller/acs/ActuatorCmd.h
#	mission/controller/acs/Guidance.cpp
#	mission/controller/acs/Guidance.h
#	mission/controller/acs/MultiplicativeKalmanFilter.cpp
#	mission/controller/acs/OutputValues.h
#	mission/controller/acs/SensorProcessing.cpp
#	mission/controller/acs/SensorProcessing.h
#	mission/controller/acs/control/Detumble.cpp
#	mission/controller/acs/control/Detumble.h
#	mission/controller/acs/control/PtgCtrl.cpp
#	mission/controller/acs/util/MathOperations.h
This commit is contained in:
Marius Eggert
2022-12-13 11:26:23 +01:00
parent 2b445369fd cf1a1185fc
commit d33ae9ede7
322 changed files with 17249 additions and 9124 deletions
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35
mission/controller/acs/SensorProcessing.h
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@ -11,7 +11,6 @@
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "OutputValues.h"
#include "SensorValues.h"
#include "SusConverter.h"
#include "config/classIds.h"
@ -23,19 +22,21 @@ class SensorProcessing {
SensorProcessing(AcsParameters *acsParameters_);
virtual ~SensorProcessing();
void process(timeval now, ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
void process(timeval now, ACS::SensorValues *sensorValues,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters); // Will call protected functions
private:
protected:
// short description needed for every function
bool processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
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 AcsParameters::MgmHandlingParameters *mgmParameters,
const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
bool gpsValid, double *magFieldEst, bool *outputValid, double *magFieldModel,
bool *magFieldModelValid, double *magneticFieldVectorDerivative,
bool *magneticFieldVectorDerivativeValid); // Output
acsctrl::GpsDataProcessed *gpsDataProcessed, const double gpsAltitude,
bool gpsValid, acsctrl::MgmDataProcessed *mgmDataProcessed);
void processSus(const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value,
bool sus1valid, const uint16_t *sus2Value, bool sus2valid,
@ -47,9 +48,8 @@ class SensorProcessing {
bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
timeval timeOfSusMeasurement,
const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst,
bool *sunDirEstValid, double *sunVectorInertial, bool *sunVectorInertialValid,
double *sunVectorDerivative, bool *sunVectorDerivativeValid);
const AcsParameters::SunModelParameters *sunModelParameters,
acsctrl::SusDataProcessed *susDataProcessed);
void processGyr(const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue,
bool gyr0axYvalid, const double gyr0axZvalue, bool gyr0axZvalid,
@ -60,19 +60,17 @@ class SensorProcessing {
const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
timeval timeOfGyrMeasurement,
const AcsParameters::GyrHandlingParameters *gyrParameters, double *satRatEst,
bool *satRateEstValid);
const AcsParameters::GyrHandlingParameters *gyrParameters,
acsctrl::GyrDataProcessed *gyrDataProcessed);
void processStr();
void processGps(const double gps0latitude, const double gps0longitude,
const double gps0altitude, const uint32_t gps0UnixSeconds,
const bool validGps, const AcsParameters::GpsParameters *gpsParameters,
double *gcLatitude, double *gdLongitude, double *gpsVelocityE);
void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
acsctrl::GpsDataProcessed *gpsDataProcessed);
double savedMagFieldEst[3];
double savedMgmVecTot[3];
timeval timeOfSavedMagFieldEst;
double savedSunVector[3];
double savedSusVecTot[3];
timeval timeOfSavedSusDirEst;
bool validMagField;
bool validGcLatitude;
@ -80,6 +78,7 @@ class SensorProcessing {
double savedPosSatE[3];
uint32_t timeOfSavedPosSatE;
bool validSavedPosSatE;
const float zeroVector[3] = {0.0, 0.0, 0.0};
SusConverter susConverter;
AcsParameters acsParameters;