Merge pull request 'MGM calibration fix' (#357) from eggert/mgm-calibration-fix into develop

Reviewed-on: #357
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -17,6 +17,10 @@ change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Readded calibration matrices for MGM calibration
+
 ## Fixed
 
 - Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
@@ -25,6 +29,9 @@ change warranting a new major release:
   stored as the git SHA hash in `commonConfig.h`. This will be
   an empty string now for regular versions.
 - Bump FSFW for important fix in PUS mode service.
+- Bugfixes in 'SensofProcessing' where previously MGM values would be calibrated before being
+  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
+  validity flag of 'mgmVecTotDerivative'.
 
 # [v1.25.0] 2023-02-06
 

mission/acsDefs.h

@@ -7,7 +7,7 @@
 namespace acs {
 
 enum CtrlSubmode {
-  OFF = HasModesIF::MODE_OFF,
+  OFF = HasModesIF::SUBMODE_NONE,
   SAFE = 10,
   DETUMBLE = 11,
   IDLE = 12,

mission/controller/AcsController.cpp

@@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
       return INVALID_SUBMODE;
     }
   } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode > 6) || (submode < 2)) {
+    if ((submode > acs::PTG_TARGET_INERTIAL) || (submode < acs::SAFE)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;

mission/controller/acs/AcsParameters.h

@@ -37,26 +37,28 @@ class AcsParameters /*: public HasParametersIF*/ {
     float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
     float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
 
-    float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0};  //{19.89364, -29.94111, -31.07508};
-    float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0};  //{10.95500, -8.053403, -33.36383};
-    float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0};  //{15.72181, -26.87090, -62.19010};
-    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
-    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
+    float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
+    float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
+    float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
+    float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
+    float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
+
+    float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
+                                       {-0.188413, 1.642303, -0.033184},
+                                       {-0.161522, -0.033184, 0.943904}};
+    float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
+                                       {-0.170225, 1.274465, -0.040231},
+                                       {-0.041678, -0.040231, 1.086352}};
+    float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
+                                       {0.172675, 1.541296, 0.065489},
+                                       {-0.043084, 0.065489, 1.001238}};
+    float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
+                                       {0.177266, 1.262156, 0.010478},
+                                       {-0.058832, 0.010478, 1.068345}};
+    float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
+                                       {-0.007534, 1.253879, 0.006812},
+                                       {-0.037072, 0.006812, 1.313158}};
 
-    float mgm0softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
-         -127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
-         {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
-    float mgm1softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
-         {-4.146410e-2, 109.3310e-2, -5.246314e-2},
-         {-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
-    float mgm2softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
-         15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
-         {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
-    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm02variance[3] = {1, 1, 1};
     float mgm13variance[3] = {1, 1, 1};
     float mgm4variance[3] = {1, 1, 1};

mission/controller/acs/SensorProcessing.cpp

@@ -47,71 +47,72 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
         mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
         mgm4ValueNoBias[3] = {0, 0, 0};
-  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
-        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
         mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
+  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
+        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
 
   if (mgm0valid) {
-    VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
+                                      mgm0ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
+                                      mgm0ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
                                       mgm0ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
-                                      mgm0ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm1valid) {
-    VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
+                                      mgm1ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
+                                      mgm1ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
                                       mgm1ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
-                                      mgm1ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm2valid) {
-    VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
+                                      mgm2ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
+                                      mgm2ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
                                       mgm2ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
-                                      mgm2ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm3valid) {
-    VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
+                                      mgm3ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
+                                      mgm3ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
                                       mgm3ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
-                                      mgm3ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm4valid) {
-    float mgm4ValueNT[3];
-    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3);  // uT to nT
-    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
+    float mgm4ValueUT[3];
+    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
+    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
+                                      mgm4ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
                                       mgm4ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
                                       mgm4ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
-                                      mgm4ValueBody, 3, 3, 1);
+
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
+      sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
     }
   }
@@ -128,6 +129,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     for (uint8_t i = 0; i < 3; i++) {
       mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
       savedMgmVecTot[i] = mgmVecTot[i];
+      mgmVecTotDerivativeValid = true;
     }
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
@@ -148,15 +150,15 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   {
     PoolReadGuard pg(mgmDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm0vec.setValid(mgm0valid);
-      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm1vec.setValid(mgm1valid);
-      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm2vec.setValid(mgm2valid);
-      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm3vec.setValid(mgm3valid);
-      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm4vec.setValid(mgm4valid);
       std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
       mgmDataProcessed->mgmVecTot.setValid(true);