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breaking the ACS controller only for Robin
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This commit is contained in:
Marius Eggert
2023-10-16 11:38:07 +02:00
parent e7276f282a
commit f61da1002f
3 changed files with 56 additions and 39 deletions
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17
mission/controller/acs/SensorProcessing.h
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@ -24,22 +24,21 @@ class SensorProcessing {
SensorProcessing();
virtual ~SensorProcessing();
void process(timeval now, ACS::SensorValues *sensorValues,
void process(timeval timeAbsolute, timeval timeRelative, ACS::SensorValues *sensorValues,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters); // Will call protected functions
acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters);
private:
static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
static constexpr double ECCENTRICITY_WGS84 = 0.0818195;
protected:
// short description needed for every function
void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
const float *mgm4Value, bool mgm4valid, timeval timeAbsolute, double timeDelta,
const AcsParameters::MgmHandlingParameters *mgmParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed);
@ -52,7 +51,7 @@ class SensorProcessing {
bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
timeval timeOfSusMeasurement,
timeval timeAbsolute, double timeDelta,
const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters,
acsctrl::SusDataProcessed *susDataProcessed);
@ -65,7 +64,6 @@ class SensorProcessing {
bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
timeval timeOfGyrMeasurement,
const AcsParameters::GyrHandlingParameters *gyrParameters,
acsctrl::GyrDataProcessed *gyrDataProcessed);
@ -76,14 +74,11 @@ class SensorProcessing {
void lowPassFilter(double *newValue, double *oldValue, const double weight);
timeval savedTimeRelative;
double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
timeval timeOfSavedMagFieldEst;
double savedSusVecTot[3] = {0.0, 0.0, 0.0};
timeval timeOfSavedSusDirEst;
bool validMagField = false;
double savedPosSatE[3] = {0.0, 0.0, 0.0};
double timeOfSavedPosSatE = 0.0;
bool validSavedPosSatE = false;
SusConverter susConverter;