eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Merge pull request 'ACS Scheduling and Smaller ACS Fixes' (#380) from eggert/acs-scheduling-and-smaller-stuff into develop
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details

Browse Source 
Reviewed-on: #380
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-02-15 20:23:15 +01:00
commit efe63b394c
7 changed files with 113 additions and 112 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
CHANGELOG.md
View File

@ -17,6 +17,15 @@ change warranting a new major release:
# [unreleased]
## Changed
- Igrf13 model vector now outputs as uT instead of nT
- Changed timings for `AcsPst`
- Added values for MGM sensor fusion
## Fixed
- Fixed values for GYR sensor fusion
# [v1.27.2] 2023-02-14
Reaction Wheel handling was determined to be (quasi) broken and needs to be fixed in future release

15
common/config/eive/definitions.h
View File

@ -57,14 +57,17 @@ static constexpr uint32_t MAX_STORED_CMDS_TCP = 150;
namespace acs {
static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_2_PERIOD =
static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
} // namespace acs

172
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -193,102 +193,102 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
@ -616,19 +616,19 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_3_PERIOD, 0);
if (cfg.scheduleImtq) {
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
}
@ -711,94 +711,94 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleRws) {
// this is the torquing cycle
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
}

12
mission/controller/acs/AcsParameters.h
View File

@ -73,9 +73,9 @@ class AcsParameters : public HasParametersIF {
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
} mgmHandlingParameters;
struct SusHandlingParameters {
@ -779,9 +779,9 @@ class AcsParameters : public HasParametersIF {
/* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr02variance[3] = {pow(3.0e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = true;
} gyrHandlingParameters;

7
mission/controller/acs/ActuatorCmd.cpp
View File

@ -1,10 +1,3 @@
/*
* ActuatorCmd.cpp
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#include "ActuatorCmd.h"
#include <fsfw/globalfunctions/constants.h>

9
mission/controller/acs/Igrf13Model.cpp
View File

@ -20,6 +20,7 @@ Igrf13Model::~Igrf13Model() {}
void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
const double altitude, timeval timeOfMagMeasurement,
double* magFieldModelInertial) {
double magFieldModel[3] = {0, 0, 0};
double phi = longitude, theta = gcLatitude; // geocentric
/* Here is the co-latitude needed*/
theta -= 90 * PI / 180;
@ -100,12 +101,8 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
magFieldModelInertial[2] =
magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
double normVecMagFieldInert[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
magFieldModel[0] = 0;
magFieldModel[1] = 0;
magFieldModel[2] = 0;
// convert nT to uT
VectorOperations<double>::mulScalar(magFieldModelInertial, 1e-3, magFieldModelInertial, 3);
}
void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {

1
mission/controller/acs/Igrf13Model.h
View File

@ -47,7 +47,6 @@ class Igrf13Model /*:public HasParametersIF*/ {
// Coefficient wary over year, could be updated sometimes.
void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
double magFieldModel[3];
void schmidtNormalization();
private: