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

merge aftermath:
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source 
- fixed missing declarations of functions
- fixed use of deprecated submode definitions
- changed naming of some submodes
This commit is contained in:
Marius Eggert 2023-02-07 13:09:42 +01:00
parent 5f9a445aa2
commit e3cc45d7e3
4 changed files with 37 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
mission/acsDefs.h
View File

@ -10,11 +10,11 @@ enum CtrlSubmode {
OFF = HasModesIF::MODE_OFF,
SAFE = 10,
DETUMBLE = 11,
IDLE = 12,
PTG_TARGET_NADIR = 13,
PTG_IDLE = 12,
PTG_NADIR = 13,
PTG_TARGET = 14,
PTG_TARGET_GS = 15,
PTG_TARGET_INERTIAL = 16,
PTG_INERTIAL = 16,
};
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;

18
mission/controller/AcsController.cpp
View File

@ -71,11 +71,11 @@ void AcsController::performControlOperation() {
case acs::DETUMBLE:
performDetumble();
break;
case acs::IDLE:
case acs::PTG_IDLE:
case acs::PTG_TARGET:
case acs::PTG_TARGET_GS:
case acs::PTG_TARGET_NADIR:
case acs::PTG_TARGET_INERTIAL:
case acs::PTG_TARGET_GS:
case acs::PTG_NADIR:
case acs::PTG_INERTIAL:
performPointingCtrl();
break;
}
@ -282,7 +282,7 @@ void AcsController::performPointingCtrl() {
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
switch (submode) {
case SUBMODE_IDLE:
case acs::PTG_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -306,7 +306,7 @@ void AcsController::performPointingCtrl() {
break;
case SUBMODE_PTG_TARGET:
case acs::PTG_TARGET:
guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -329,7 +329,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_TARGET_GS:
case acs::PTG_TARGET_GS:
guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -352,7 +352,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_NADIR:
case acs::PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
@ -374,7 +374,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_INERTIAL:
case acs::PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
4 * sizeof(double));

5
mission/controller/AcsController.h
View File

@ -26,6 +26,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
AcsController(object_id_t objectId);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
protected:
void performSafe();
void performDetumble();

39
mission/system/tree/acsModeTree.cpp
View File

@ -55,13 +55,14 @@ auto ACS_TABLE_SAFE_TRANS_0 =
auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_IDLE =
std::make_pair(acs::CtrlSubmode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_PTG_TRANS_0 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
@ -81,18 +82,18 @@ auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair(acs::CtrlSubmode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair(acs::CtrlSubmode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::acs::init() {
ModeListEntry entry;
@ -291,7 +292,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build IDLE target
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@ -307,7 +308,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
// Build IDLE sequence
@ -399,7 +400,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_NADIR,
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@ -485,7 +486,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
@ -498,7 +499,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),