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a new dataset a day keeps the doctor away
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This commit is contained in:
Marius Eggert
2023-07-20 09:32:48 +02:00
parent 800e29bcb9
commit d90fd07ba3
4 changed files with 34 additions and 3 deletions
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21
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -18,7 +18,8 @@ enum SetIds : uint32_t {
GPS_PROCESSED_DATA,
MEKF_DATA,
CTRL_VAL_DATA,
ACTUATOR_CMD_DATA
ACTUATOR_CMD_DATA,
FUSED_ROTATION_RATE_DATA,
};
enum PoolIds : lp_id_t {
@ -103,6 +104,10 @@ enum PoolIds : lp_id_t {
RW_TARGET_TORQUE,
RW_TARGET_SPEED,
MTQ_TARGET_DIPOLE,
// Fused Rotation Rate
ROT_RATE_ORTHOGONAL,
ROT_RATE_PARALLEL,
ROT_RATE_TOTAL,
};
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@ -115,6 +120,7 @@ static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t MEKF_SET_ENTRIES = 3;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
/**
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@ -273,6 +279,19 @@ class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
private:
};
class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
public:
FusedRotRateData(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_DATA) {}
lp_vec_t<double, 3> rotRateOrthogonal =
lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
private:
};
} // namespace acsctrl
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */