eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

Merge branch 'main' into detumble-fix
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert
2024-01-29 14:23:05 +01:00
parent 68b0e3b20a d065f6257e
commit e17ef1bcfd
10 changed files with 72 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
mission/controller/AcsController.cpp
View File

@ -393,7 +393,6 @@ 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) {
@ -434,7 +433,6 @@ 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:
@ -458,7 +456,6 @@ 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:
@ -479,7 +476,6 @@ 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:
@ -503,7 +499,6 @@ 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:
@ -526,7 +521,6 @@ 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;
@ -538,9 +532,7 @@ 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);
}
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
@ -889,6 +881,24 @@ 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);
}

61
mission/controller/acs/AcsParameters.cpp
View File

@ -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:

1
mission/controller/acs/AcsParameters.h
View File

@ -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;

2
mission/controller/acs/control/PtgCtrl.cpp
View File

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