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eive/eive-obsw
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Merge branch 'main' into change-ptg-strat-prios

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This commit is contained in:
Marius Eggert 2024-02-26 13:12:01 +01:00
commit f11240deb4
6 changed files with 21 additions and 12 deletions
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6
CHANGELOG.md
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@ -25,6 +25,12 @@ will consitute of a breaking change warranting a new major release:
- Bugfix in PLOC MPSoC HK set: Set and variables were not set valid.
- The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode
and is triggered by the `AcsController` now.
- Fixed a corner case, in which an invalid speed command could be sent to the `RwHandler`.
## Changed
- `FusedRotationRate` now only uses rotation rate from QUEST and STR in higher modes
- QUEST and STR rates are now allowed per default
## Changed

2
mission/controller/AcsController.cpp
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@ -173,7 +173,7 @@ void AcsController::performAttitudeControl() {
&susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
fusedRotationEstimation.estimateFusedRotationRate(
&susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &attitudeEstimationData, &acsParameters);

4
mission/controller/acs/AcsParameters.h
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@ -20,8 +20,8 @@ class AcsParameters : public HasParametersIF {
double sampleTime = 0.4; // [s]
uint16_t ptgCtrlLostTimer = 750;
uint8_t fusedRateSafeDuringEclipse = true;
uint8_t fusedRateFromStr = false;
uint8_t fusedRateFromQuest = false;
uint8_t fusedRateFromStr = true;
uint8_t fusedRateFromQuest = true;
double questFilterWeight = 0.0;
} onBoardParams;

17
mission/controller/acs/FusedRotationEstimation.cpp
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@ -5,18 +5,18 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
}
void FusedRotationEstimation::estimateFusedRotationRate(
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed,
ACS::SensorValues *sensorValues, acsctrl::AttitudeEstimationData *attitudeEstimationData,
const double timeDelta, acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
acsctrl::FusedRotRateData *fusedRotRateData) {
estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
fusedRotRateSourcesData);
if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
acsParameters->onBoardParams.fusedRateFromStr) {
if (not(mode == acs::AcsMode::SAFE) and (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
acsParameters->onBoardParams.fusedRateFromStr)) {
PoolReadGuard pg(fusedRotRateData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
@ -29,8 +29,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
acsParameters->onBoardParams.fusedRateFromQuest) {
} else if (not(mode == acs::AcsMode::SAFE) and
(fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
acsParameters->onBoardParams.fusedRateFromQuest)) {
PoolReadGuard pg(fusedRotRateData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));

2
mission/controller/acs/FusedRotationEstimation.h
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@ -12,7 +12,7 @@ class FusedRotationEstimation {
public:
FusedRotationEstimation(AcsParameters *acsParameters_);
void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
void estimateFusedRotationRate(const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
ACS::SensorValues *sensorValues,

2
mission/controller/acs/control/PtgCtrl.cpp
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@ -221,6 +221,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} else {
rwCmdSpeeds[i] = 0;
}
}
}