Merge pull request 'New Safe Mode Controller' (#748) from acs-safe-flp-v2 into main
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Reviewed-on: #748 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
commit
dbb3434cd9
@ -24,6 +24,10 @@ will consitute of a breaking change warranting a new major release:
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- Re-ordered some functions of the core controller in the initialize function.
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- Rad sensor is now only polled every 30 minutes instead of every device cycle to reduce wear of
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the RADFET electronics.
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- ACS Controller now includes the safe mode from FLP, which will calculate its rotational rate
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from SUS and MGM measurements. To accommodate these changes, low-pass filters for SUS
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measurements and rates as well as MGM measurements and rates are included. Usage of the new
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controller as well as settings of the low-pass filters can be handled via parameter commands.
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## Added
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@ -124,6 +124,8 @@ void ObjectFactory::produce(void* args) {
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if (core::FW_VERSION_MAJOR >= 4) {
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battAndImtqI2cDev = q7s::I2C_PS_EIVE;
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}
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static_cast<void>(battAndImtqI2cDev);
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#if OBSW_ADD_MGT == 1
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createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
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#endif
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@ -26,10 +26,12 @@ enum SafeModeStrategy : uint8_t {
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SAFECTRL_OFF = 0,
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SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
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SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
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SAFECTRL_ACTIVE_MEKF = 10,
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SAFECTRL_WITHOUT_MEKF = 11,
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SAFECTRL_ECLIPSE_DAMPING = 12,
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SAFECTRL_ECLIPSE_IDELING = 13,
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SAFECTRL_MEKF = 10,
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SAFECTRL_GYR = 11,
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SAFECTRL_SUSMGM = 12,
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SAFECTRL_ECLIPSE_DAMPING_GYR = 13,
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SAFECTRL_ECLIPSE_DAMPING_SUSMGM = 14,
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SAFECTRL_ECLIPSE_IDELING = 15,
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SAFECTRL_DETUMBLE_FULL = 20,
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SAFECTRL_DETUMBLE_DETERIORATED = 21,
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};
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@ -7,6 +7,7 @@
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AcsController::AcsController(object_id_t objectId, bool enableHkSets)
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: ExtendedControllerBase(objectId),
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enableHkSets(enableHkSets),
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fusedRotationEstimation(&acsParameters),
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guidance(&acsParameters),
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safeCtrl(&acsParameters),
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ptgCtrl(&acsParameters),
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@ -20,7 +21,8 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
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gpsDataProcessed(this),
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mekfData(this),
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ctrlValData(this),
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actuatorCmdData(this) {}
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actuatorCmdData(this),
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fusedRotRateData(this) {}
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ReturnValue_t AcsController::initialize() {
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ReturnValue_t result = parameterHelper.initialize();
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@ -146,6 +148,8 @@ void AcsController::performSafe() {
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sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
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&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
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fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
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&gyrDataProcessed, &fusedRotRateData);
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ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
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&susDataProcessed, &mekfData, &acsParameters);
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if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
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@ -172,25 +176,42 @@ void AcsController::performSafe() {
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acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
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mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
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gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
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fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
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acsParameters.safeModeControllerParameters.useMekf,
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acsParameters.safeModeControllerParameters.useGyr,
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acsParameters.safeModeControllerParameters.dampingDuringEclipse);
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switch (safeCtrlStrat) {
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case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
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case (acs::SafeModeStrategy::SAFECTRL_MEKF):
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safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
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susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
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magMomMtq, errAng);
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safeCtrlFailureFlag = false;
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safeCtrlFailureCounter = 0;
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break;
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case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
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safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
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susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
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case (acs::SafeModeStrategy::SAFECTRL_GYR):
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safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
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susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
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safeCtrlFailureFlag = false;
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safeCtrlFailureCounter = 0;
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break;
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case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
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safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
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sunTargetDir, magMomMtq, errAng);
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case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
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safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
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fusedRotRateData.rotRateOrthogonal.value,
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susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
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safeCtrlFailureFlag = false;
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safeCtrlFailureCounter = 0;
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break;
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case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
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safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
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gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
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errAng);
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safeCtrlFailureFlag = false;
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safeCtrlFailureCounter = 0;
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break;
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case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
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safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
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fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
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errAng);
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safeCtrlFailureFlag = false;
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safeCtrlFailureCounter = 0;
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break;
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@ -214,12 +235,20 @@ void AcsController::performSafe() {
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acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
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// detumble check and switch
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if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
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VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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} else if (gyrDataProcessed.gyrVecTot.isValid() &&
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VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
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if (acsParameters.safeModeControllerParameters.useMekf) {
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if (mekfData.satRotRateMekf.isValid() and
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VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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}
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} else if (acsParameters.safeModeControllerParameters.useGyr) {
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if (gyrDataProcessed.gyrVecTot.isValid() and
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VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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}
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} else if (fusedRotRateData.rotRateTotal.isValid() and
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VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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} else if (detumbleCounter > 0) {
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@ -289,17 +318,26 @@ void AcsController::performDetumble() {
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actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
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acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
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if (mekfData.satRotRateMekf.isValid() &&
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VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
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acsParameters.detumbleParameter.omegaDetumbleEnd) {
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detumbleCounter++;
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} else if (gyrDataProcessed.gyrVecTot.isValid() &&
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VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
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acsParameters.detumbleParameter.omegaDetumbleEnd) {
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if (acsParameters.safeModeControllerParameters.useMekf) {
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if (mekfData.satRotRateMekf.isValid() and
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VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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}
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} else if (acsParameters.safeModeControllerParameters.useGyr) {
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if (gyrDataProcessed.gyrVecTot.isValid() and
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VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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}
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} else if (fusedRotRateData.rotRateTotal.isValid() and
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VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
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acsParameters.detumbleParameter.omegaDetumbleStart) {
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detumbleCounter++;
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} else if (detumbleCounter > 0) {
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detumbleCounter -= 1;
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}
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if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
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detumbleCounter = 0;
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// Triggers safe mode transition in subsystem
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@ -707,6 +745,11 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
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localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
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localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
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poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
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// Fused Rot Rate
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localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
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localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
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localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
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poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
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return returnvalue::OK;
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}
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@ -732,6 +775,8 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
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return &ctrlValData;
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case acsctrl::ACTUATOR_CMD_DATA:
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return &actuatorCmdData;
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case acsctrl::FUSED_ROTATION_RATE_DATA:
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return &fusedRotRateData;
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default:
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return nullptr;
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}
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@ -13,6 +13,7 @@
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#include <mission/acs/rwHelpers.h>
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#include <mission/acs/susMax1227Helpers.h>
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#include <mission/controller/acs/ActuatorCmd.h>
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#include <mission/controller/acs/FusedRotationEstimation.h>
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#include <mission/controller/acs/Guidance.h>
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#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
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#include <mission/controller/acs/Navigation.h>
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@ -49,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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AcsParameters acsParameters;
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SensorProcessing sensorProcessing;
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FusedRotationEstimation fusedRotationEstimation;
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Navigation navigation;
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ActuatorCmd actuatorCmd;
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Guidance guidance;
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@ -226,6 +228,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
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PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
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// Fused Rot Rate
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acsctrl::FusedRotRateData fusedRotRateData;
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PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
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PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(INIT_DELAY);
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};
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@ -105,6 +105,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
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break;
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case 0x12:
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parameterWrapper->set(mgmHandlingParameters.mgmVectorFilterWeight);
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break;
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case 0x13:
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parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
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break;
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default:
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@ -224,6 +227,12 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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case 0x24:
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parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
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break;
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case 0x25:
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parameterWrapper->set(susHandlingParameters.susVectorFilterWeight);
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break;
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case 0x26:
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parameterWrapper->set(susHandlingParameters.susRateFilterWeight);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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@ -339,26 +348,41 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
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break;
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case 0x3:
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parameterWrapper->set(safeModeControllerParameters.k_orthoNonMekf);
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parameterWrapper->set(safeModeControllerParameters.k_orthoGyr);
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break;
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case 0x4:
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parameterWrapper->set(safeModeControllerParameters.k_alignNonMekf);
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parameterWrapper->set(safeModeControllerParameters.k_alignGyr);
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break;
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case 0x5:
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parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
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parameterWrapper->set(safeModeControllerParameters.k_parallelGyr);
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break;
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case 0x6:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
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parameterWrapper->set(safeModeControllerParameters.k_orthoSusMgm);
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break;
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case 0x7:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
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parameterWrapper->set(safeModeControllerParameters.k_alignSusMgm);
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break;
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case 0x8:
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parameterWrapper->set(safeModeControllerParameters.useMekf);
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parameterWrapper->set(safeModeControllerParameters.k_parallelSusMgm);
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break;
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case 0x9:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
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break;
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case 0xA:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
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break;
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case 0xB:
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parameterWrapper->set(safeModeControllerParameters.useMekf);
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break;
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case 0xC:
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parameterWrapper->set(safeModeControllerParameters.useGyr);
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break;
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case 0xD:
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parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
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break;
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case 0xE:
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parameterWrapper->set(safeModeControllerParameters.sineLimitSunRotRate);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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@ -77,7 +77,8 @@ class AcsParameters : public HasParametersIF {
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float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
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float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
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float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
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float mgmDerivativeFilterWeight = 0.5;
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float mgmVectorFilterWeight = 0.85;
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float mgmDerivativeFilterWeight = 0.85;
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} mgmHandlingParameters;
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struct SusHandlingParameters {
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@ -767,6 +768,8 @@ class AcsParameters : public HasParametersIF {
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0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
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-0.000889232196185857, -0.00168429567131815}};
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float susBrightnessThreshold = 0.7;
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float susVectorFilterWeight = .85;
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float susRateFilterWeight = .85;
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} susHandlingParameters;
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struct GyrHandlingParameters {
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@ -825,15 +828,22 @@ class AcsParameters : public HasParametersIF {
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double k_alignMekf = 4.0e-5;
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double k_parallelMekf = 3.75e-4;
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double k_orthoNonMekf = 4.4e-3;
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double k_alignNonMekf = 4.0e-5;
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double k_parallelNonMekf = 3.75e-4;
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double k_orthoGyr = 4.4e-3;
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double k_alignGyr = 4.0e-5;
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double k_parallelGyr = 3.75e-4;
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double k_orthoSusMgm = 1.1e-2;
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double k_alignSusMgm = 2.0e-5;
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double k_parallelSusMgm = 4.4e-4;
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double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
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double sunTargetDir[3] = {0, 0, 1};
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uint8_t useMekf = false;
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uint8_t useGyr = true;
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uint8_t dampingDuringEclipse = true;
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float sineLimitSunRotRate = 0.24;
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} safeModeControllerParameters;
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struct PointingLawParameters {
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|
@ -2,6 +2,7 @@ target_sources(
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${LIB_EIVE_MISSION}
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PRIVATE AcsParameters.cpp
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ActuatorCmd.cpp
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FusedRotationEstimation.cpp
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Guidance.cpp
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Igrf13Model.cpp
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MultiplicativeKalmanFilter.cpp
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|
103
mission/controller/acs/FusedRotationEstimation.cpp
Normal file
103
mission/controller/acs/FusedRotationEstimation.cpp
Normal file
@ -0,0 +1,103 @@
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#include "FusedRotationEstimation.h"
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FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_) {
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acsParameters = acsParameters_;
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}
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void FusedRotationEstimation::estimateFusedRotationRateSafe(
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acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
|
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acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
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if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
|
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not fusedRotRateData->rotRateTotal.isValid()) or
|
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(not susDataProcessed->susVecTotDerivative.isValid() and
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not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
|
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{
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PoolReadGuard pg(fusedRotRateData);
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
|
||||
fusedRotRateData->setValidity(false, true);
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (not susDataProcessed->susVecTot.isValid()) {
|
||||
estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
|
||||
return;
|
||||
}
|
||||
|
||||
// calculate rotation around the sun
|
||||
double magSunCross[3] = {0, 0, 0};
|
||||
|
||||
VectorOperations<double>::cross(mgmDataProcessed->mgmVecTot.value,
|
||||
susDataProcessed->susVecTot.value, magSunCross);
|
||||
double magSunCrossNorm = VectorOperations<double>::norm(magSunCross, 3);
|
||||
double magNorm = VectorOperations<double>::norm(mgmDataProcessed->mgmVecTot.value, 3);
|
||||
double fusedRotRateParallel[3] = {0, 0, 0};
|
||||
if (magSunCrossNorm >
|
||||
(acsParameters->safeModeControllerParameters.sineLimitSunRotRate * magNorm)) {
|
||||
double omegaParallel =
|
||||
VectorOperations<double>::dot(mgmDataProcessed->mgmVecTotDerivative.value, magSunCross) *
|
||||
pow(magSunCrossNorm, -2);
|
||||
VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
|
||||
fusedRotRateParallel, 3);
|
||||
} else {
|
||||
estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
|
||||
return;
|
||||
}
|
||||
|
||||
// calculate rotation orthogonal to the sun
|
||||
double fusedRotRateOrthogonal[3] = {0, 0, 0};
|
||||
VectorOperations<double>::cross(susDataProcessed->susVecTotDerivative.value,
|
||||
susDataProcessed->susVecTot.value, fusedRotRateOrthogonal);
|
||||
VectorOperations<double>::mulScalar(
|
||||
fusedRotRateOrthogonal,
|
||||
pow(VectorOperations<double>::norm(susDataProcessed->susVecTot.value, 3), -2),
|
||||
fusedRotRateOrthogonal, 3);
|
||||
|
||||
// calculate total rotation rate
|
||||
double fusedRotRateTotal[3] = {0, 0, 0};
|
||||
VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);
|
||||
|
||||
// store for calculation of angular acceleration
|
||||
if (gyrDataProcessed->gyrVecTot.isValid()) {
|
||||
std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
|
||||
}
|
||||
|
||||
{
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
|
||||
3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
|
||||
fusedRotRateData->setValidity(true, true);
|
||||
}
|
||||
}
|
||||
|
||||
void FusedRotationEstimation::estimateFusedRotationRateEclipse(
|
||||
acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
|
||||
if (not gyrDataProcessed->gyrVecTot.isValid() or
|
||||
VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
|
||||
{
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
|
||||
fusedRotRateData->setValidity(false, true);
|
||||
}
|
||||
return;
|
||||
}
|
||||
double angAccelB[3] = {0, 0, 0};
|
||||
VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
|
||||
double fusedRotRateTotal[3] = {0, 0, 0};
|
||||
VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
|
||||
3);
|
||||
{
|
||||
PoolReadGuard pg(fusedRotRateData);
|
||||
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateOrthogonal.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateParallel.setValid(false);
|
||||
std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
|
||||
fusedRotRateData->rotRateTotal.setValid(true);
|
||||
}
|
||||
}
|
29
mission/controller/acs/FusedRotationEstimation.h
Normal file
29
mission/controller/acs/FusedRotationEstimation.h
Normal file
@ -0,0 +1,29 @@
|
||||
#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
|
||||
#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
||||
#include <mission/controller/acs/AcsParameters.h>
|
||||
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
|
||||
|
||||
class FusedRotationEstimation {
|
||||
public:
|
||||
FusedRotationEstimation(AcsParameters *acsParameters_);
|
||||
|
||||
void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
|
||||
acsctrl::MgmDataProcessed *mgmDataProcessed,
|
||||
acsctrl::GyrDataProcessed *gyrDataProcessed,
|
||||
acsctrl::FusedRotRateData *fusedRotRateData);
|
||||
|
||||
protected:
|
||||
private:
|
||||
static constexpr double ZERO_VEC[3] = {0, 0, 0};
|
||||
|
||||
AcsParameters *acsParameters;
|
||||
double rotRateOldB[3] = {0, 0, 0};
|
||||
|
||||
void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
|
||||
acsctrl::FusedRotRateData *fusedRotRateData);
|
||||
};
|
||||
|
||||
#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */
|
@ -132,6 +132,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
|
||||
}
|
||||
if (VectorOperations<double>::norm(mgmVecTot, 3) != 0 and mgmDataProcessed->mgmVecTot.isValid()) {
|
||||
lowPassFilter(mgmVecTot, mgmDataProcessed->mgmVecTot.value,
|
||||
mgmParameters->mgmVectorFilterWeight);
|
||||
}
|
||||
|
||||
//-----------------------Mgm Rate Computation ---------------------------------------------------
|
||||
double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
|
||||
@ -351,6 +355,11 @@ void SensorProcessing::processSus(
|
||||
double susVecTot[3] = {0.0, 0.0, 0.0};
|
||||
VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
|
||||
|
||||
if (VectorOperations<double>::norm(susVecTot, 3) != 0 and susDataProcessed->susVecTot.isValid()) {
|
||||
lowPassFilter(susVecTot, susDataProcessed->susVecTot.value,
|
||||
susParameters->susVectorFilterWeight);
|
||||
}
|
||||
|
||||
/* -------- Sun Derivatiative --------------------- */
|
||||
|
||||
double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
|
||||
@ -363,6 +372,11 @@ void SensorProcessing::processSus(
|
||||
susVecTotDerivativeValid = true;
|
||||
}
|
||||
}
|
||||
if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
|
||||
susDataProcessed->susVecTotDerivative.isValid()) {
|
||||
lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
|
||||
susParameters->susRateFilterWeight);
|
||||
}
|
||||
timeOfSavedSusDirEst = timeOfSusMeasurement;
|
||||
{
|
||||
PoolReadGuard pg(susDataProcessed);
|
||||
|
@ -9,20 +9,36 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
|
||||
|
||||
SafeCtrl::~SafeCtrl() {}
|
||||
|
||||
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
|
||||
const bool satRotRateValid, const bool sunDirValid,
|
||||
const uint8_t mekfEnabled,
|
||||
const uint8_t dampingEnabled) {
|
||||
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
|
||||
const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
|
||||
const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
|
||||
const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
|
||||
if (not magFieldValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
|
||||
} else if (mekfEnabled and mekfValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
|
||||
} else if (satRotRateValid and sunDirValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
|
||||
} else if (dampingEnabled and satRotRateValid and not sunDirValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
|
||||
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
|
||||
return acs::SafeModeStrategy::SAFECTRL_MEKF;
|
||||
} else if (sunDirValid) {
|
||||
if (gyrEnabled and satRotRateValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_GYR;
|
||||
} else if (not gyrEnabled and fusedRateSplitValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
|
||||
} else {
|
||||
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
|
||||
}
|
||||
} else if (not sunDirValid) {
|
||||
if (dampingEnabled) {
|
||||
if (gyrEnabled and satRotRateValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
|
||||
} else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
|
||||
} else {
|
||||
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
|
||||
}
|
||||
} else if (not dampingEnabled and satRotRateValid) {
|
||||
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
|
||||
} else {
|
||||
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
|
||||
}
|
||||
} else {
|
||||
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
|
||||
}
|
||||
@ -43,8 +59,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
|
||||
errorAngle = acos(dotSun);
|
||||
|
||||
splitRotationalRate(satRotRateB, sunDirB);
|
||||
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
|
||||
acsParameters->safeModeControllerParameters.k_parallelMekf,
|
||||
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelMekf,
|
||||
acsParameters->safeModeControllerParameters.k_orthoMekf);
|
||||
calculateAngleErrorTorque(sunDirB, sunDirRefB,
|
||||
acsParameters->safeModeControllerParameters.k_alignMekf);
|
||||
@ -57,9 +72,8 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
|
||||
calculateMagneticMoment(magMomB);
|
||||
}
|
||||
|
||||
void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirB, const double *sunDirRefB, double *magMomB,
|
||||
double &errorAngle) {
|
||||
void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle) {
|
||||
// convert magFieldB from uT to T
|
||||
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
|
||||
|
||||
@ -68,11 +82,10 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
|
||||
errorAngle = acos(dotSun);
|
||||
|
||||
splitRotationalRate(satRotRateB, sunDirB);
|
||||
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
|
||||
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
|
||||
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
|
||||
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
|
||||
acsParameters->safeModeControllerParameters.k_orthoGyr);
|
||||
calculateAngleErrorTorque(sunDirB, sunDirRefB,
|
||||
acsParameters->safeModeControllerParameters.k_alignNonMekf);
|
||||
acsParameters->safeModeControllerParameters.k_alignGyr);
|
||||
|
||||
// sum of all torques
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
@ -82,8 +95,33 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
|
||||
calculateMagneticMoment(magMomB);
|
||||
}
|
||||
|
||||
void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle) {
|
||||
void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
|
||||
const double *rotRateOrthogonalB, const double *sunDirB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle) {
|
||||
// convert magFieldB from uT to T
|
||||
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
|
||||
|
||||
// calculate error angle between sunDirRef and sunDir
|
||||
double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
|
||||
errorAngle = acos(dotSun);
|
||||
|
||||
std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
|
||||
std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
|
||||
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
|
||||
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
|
||||
calculateAngleErrorTorque(sunDirB, sunDirRefB,
|
||||
acsParameters->safeModeControllerParameters.k_alignSusMgm);
|
||||
|
||||
// sum of all torques
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
|
||||
}
|
||||
|
||||
calculateMagneticMoment(magMomB);
|
||||
}
|
||||
|
||||
void SafeCtrl::safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle) {
|
||||
// convert magFieldB from uT to T
|
||||
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
|
||||
|
||||
@ -91,9 +129,28 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
|
||||
errorAngle = NAN;
|
||||
|
||||
splitRotationalRate(satRotRateB, sunDirRefB);
|
||||
calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
|
||||
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
|
||||
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
|
||||
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
|
||||
acsParameters->safeModeControllerParameters.k_orthoGyr);
|
||||
|
||||
// sum of all torques
|
||||
VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
|
||||
|
||||
// calculate magnetic moment to command
|
||||
calculateMagneticMoment(magMomB);
|
||||
}
|
||||
|
||||
void SafeCtrl::safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirRefB, double *magMomB,
|
||||
double &errorAngle) {
|
||||
// convert magFieldB from uT to T
|
||||
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
|
||||
|
||||
// no error angle available for eclipse
|
||||
errorAngle = NAN;
|
||||
|
||||
splitRotationalRate(satRotRateB, sunDirRefB);
|
||||
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
|
||||
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
|
||||
|
||||
// sum of all torques
|
||||
VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
|
||||
@ -110,9 +167,7 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
|
||||
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
|
||||
}
|
||||
|
||||
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
|
||||
double &errorAngle, const double gainParallel,
|
||||
const double gainOrtho) {
|
||||
void SafeCtrl::calculateRotationalRateTorque(const double gainParallel, const double gainOrtho) {
|
||||
// calculate torque for parallel rotational rate
|
||||
VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
|
||||
|
||||
|
@ -14,23 +14,34 @@ class SafeCtrl {
|
||||
|
||||
acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
|
||||
const bool satRotRateValid, const bool sunDirValid,
|
||||
const uint8_t mekfEnabled, const uint8_t dampingEnabled);
|
||||
const bool fusedRateSplitValid,
|
||||
const bool fusedRateTotalValid, const uint8_t mekfEnabled,
|
||||
const uint8_t gyrEnabled, const uint8_t dampingEnabled);
|
||||
|
||||
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
|
||||
const double *quatBI, const double *sunDirRefB, double *magMomB,
|
||||
double &errorAngle);
|
||||
|
||||
void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle);
|
||||
void safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle);
|
||||
|
||||
void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
|
||||
double *magMomB, double &errorAngle);
|
||||
void safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
|
||||
const double *rotRateOrthogonalB, const double *sunDirB, const double *sunDirRefB,
|
||||
double *magMomB, double &errorAngle);
|
||||
|
||||
void safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle);
|
||||
|
||||
void safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
|
||||
const double *sunDirRefB, double *magMomB, double &errorAngle);
|
||||
|
||||
void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
|
||||
|
||||
void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
|
||||
double &errorAngle, const double gainParallel,
|
||||
const double gainOrtho);
|
||||
void calculateRotationalRates(const double *magFieldB, const double *magRateB,
|
||||
const double *sunDirB, const double *sunRateB,
|
||||
double *fusedRotRate);
|
||||
|
||||
void calculateRotationalRateTorque(const double gainParallel, const double gainOrtho);
|
||||
|
||||
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
|
||||
const double gainAlign);
|
||||
|
@ -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_ */
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit a82cbff5a83eb37c68234bdeecd3b7d308d65eb1
|
||||
Subproject commit 15716c988b6d26ae7f00e44b919d5ae7505d81ad
|
Loading…
Reference in New Issue
Block a user