fixed inputs. removed outputs. minor fixes
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@ -38,7 +38,7 @@ void AcsController::performControlOperation() {
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break;
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case SUBMODE_DETUMBLE:
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// performDetumble();
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performDetumble();
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break;
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case SUBMODE_PTG_GS:
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@ -64,10 +64,9 @@ void AcsController::performControlOperation() {
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copySusData();
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}
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}
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sif::debug << susData.sus0.value[0] << "," << susData.sus0.value[1] << ","
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<< susData.sus0.value[2] << "," << susData.sus0.value[3] << ","
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<< susData.sus0.value[4] << "," << susData.sus0.value[5] << std::endl;
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sif::debug << susData.sus0.isValid() << std::endl;
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mode = MODE_ON;
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submode = SUBMODE_DETUMBLE;
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}
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void AcsController::performSafe() {}
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@ -82,7 +81,7 @@ void AcsController::performDetumble() {
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timeval now; // = {0,0};
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Clock::getClock_timeval(&now);
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sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
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sensorProcessing.process(&susData, now, &sensorValues, &outputValues, &acsParameters);
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ReturnValue_t validMekf;
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navigation.useMekf(&sensorValues, &outputValues, &validMekf);
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double magMomMtq[3] = {0, 0, 0};
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@ -16,11 +16,11 @@ public:
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AcsParameters();
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virtual ~AcsParameters();
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/*
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virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
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ParameterWrapper *parameterWrapper,
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const ParameterWrapper *newValues, uint16_t startAtIndex);
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*/
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struct OnBoardParams {
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double sampleTime = 0.1; // [s]
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} onBoardParams;
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@ -144,29 +144,29 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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return true;
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}
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void SensorProcessing::processSus(acsctrl::SusDataRaw susData, timeval timeOfSusMeasurement,
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void SensorProcessing::processSus(acsctrl::SusDataRaw *susData, timeval timeOfSusMeasurement,
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const AcsParameters::SusHandlingParameters *susParameters,
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const AcsParameters::SunModelParameters *sunModelParameters,
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double *sunDirEst, bool *sunDirEstValid,
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double *sunVectorInertial, bool *sunVectorInertialValid,
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double *sunVectorDerivative, bool *sunVectorDerivativeValid) {
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susData.sus0.setValid(susConverter.checkSunSensorData(susData.sus0));
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susData.sus1.setValid(susConverter.checkSunSensorData(susData.sus1));
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susData.sus2.setValid(susConverter.checkSunSensorData(susData.sus2));
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susData.sus3.setValid(susConverter.checkSunSensorData(susData.sus3));
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susData.sus4.setValid(susConverter.checkSunSensorData(susData.sus4));
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susData.sus5.setValid(susConverter.checkSunSensorData(susData.sus5));
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susData.sus6.setValid(susConverter.checkSunSensorData(susData.sus6));
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susData.sus7.setValid(susConverter.checkSunSensorData(susData.sus7));
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susData.sus8.setValid(susConverter.checkSunSensorData(susData.sus8));
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susData.sus9.setValid(susConverter.checkSunSensorData(susData.sus9));
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susData.sus10.setValid(susConverter.checkSunSensorData(susData.sus10));
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susData.sus11.setValid(susConverter.checkSunSensorData(susData.sus11));
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susData->sus0.setValid(susConverter.checkSunSensorData(susData->sus0));
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susData->sus1.setValid(susConverter.checkSunSensorData(susData->sus1));
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susData->sus2.setValid(susConverter.checkSunSensorData(susData->sus2));
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susData->sus3.setValid(susConverter.checkSunSensorData(susData->sus3));
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susData->sus4.setValid(susConverter.checkSunSensorData(susData->sus4));
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susData->sus5.setValid(susConverter.checkSunSensorData(susData->sus5));
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susData->sus6.setValid(susConverter.checkSunSensorData(susData->sus6));
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susData->sus7.setValid(susConverter.checkSunSensorData(susData->sus7));
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susData->sus8.setValid(susConverter.checkSunSensorData(susData->sus8));
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susData->sus9.setValid(susConverter.checkSunSensorData(susData->sus9));
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susData->sus10.setValid(susConverter.checkSunSensorData(susData->sus10));
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susData->sus11.setValid(susConverter.checkSunSensorData(susData->sus11));
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if (!susData.sus0.isValid() && !susData.sus1.isValid() && !susData.sus2.isValid() &&
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!susData.sus3.isValid() && !susData.sus4.isValid() && !susData.sus5.isValid() &&
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!susData.sus6.isValid() && !susData.sus7.isValid() && !susData.sus8.isValid() &&
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!susData.sus9.isValid() && !susData.sus10.isValid() && !susData.sus11.isValid()) {
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if (!susData->sus0.isValid() && !susData->sus1.isValid() && !susData->sus2.isValid() &&
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!susData->sus3.isValid() && !susData->sus4.isValid() && !susData->sus5.isValid() &&
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!susData->sus6.isValid() && !susData->sus7.isValid() && !susData->sus8.isValid() &&
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!susData->sus9.isValid() && !susData->sus10.isValid() && !susData->sus11.isValid()) {
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*sunDirEstValid = false;
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return;
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} else {
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@ -177,97 +177,97 @@ void SensorProcessing::processSus(acsctrl::SusDataRaw susData, timeval timeOfSus
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sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
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sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
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if (susData.sus0.isValid()) {
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if (susData->sus0.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus0orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus0, susParameters->sus0coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus0, susParameters->sus0coeffAlpha,
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susParameters->sus0coeffBeta),
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sus0VecBody, 3, 3, 1);
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}
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if (susData.sus1.isValid()) {
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if (susData->sus1.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus1orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus1, susParameters->sus1coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus1, susParameters->sus1coeffAlpha,
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susParameters->sus1coeffBeta),
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sus1VecBody, 3, 3, 1);
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}
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if (susData.sus2.isValid()) {
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if (susData->sus2.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus2orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus2, susParameters->sus2coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus2, susParameters->sus2coeffAlpha,
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susParameters->sus2coeffBeta),
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sus2VecBody, 3, 3, 1);
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}
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if (susData.sus3.isValid()) {
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if (susData->sus3.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus3orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus3, susParameters->sus3coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus3, susParameters->sus3coeffAlpha,
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susParameters->sus3coeffBeta),
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sus3VecBody, 3, 3, 1);
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}
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if (susData.sus4.isValid()) {
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if (susData->sus4.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus4orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus4, susParameters->sus4coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus4, susParameters->sus4coeffAlpha,
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susParameters->sus4coeffBeta),
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sus4VecBody, 3, 3, 1);
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}
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if (susData.sus5.isValid()) {
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if (susData->sus5.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus5orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus5, susParameters->sus5coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus5, susParameters->sus5coeffAlpha,
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susParameters->sus5coeffBeta),
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sus5VecBody, 3, 3, 1);
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}
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if (susData.sus6.isValid()) {
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if (susData->sus6.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus6orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus6, susParameters->sus6coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus6, susParameters->sus6coeffAlpha,
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susParameters->sus6coeffBeta),
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sus6VecBody, 3, 3, 1);
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}
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if (susData.sus7.isValid()) {
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if (susData->sus7.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus7orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus7, susParameters->sus7coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus7, susParameters->sus7coeffAlpha,
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susParameters->sus7coeffBeta),
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sus7VecBody, 3, 3, 1);
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}
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if (susData.sus8.isValid()) {
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if (susData->sus8.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus8orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus8, susParameters->sus8coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus8, susParameters->sus8coeffAlpha,
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susParameters->sus8coeffBeta),
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sus8VecBody, 3, 3, 1);
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}
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if (susData.sus9.isValid()) {
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if (susData->sus9.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus9orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus9, susParameters->sus9coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus9, susParameters->sus9coeffAlpha,
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susParameters->sus9coeffBeta),
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sus9VecBody, 3, 3, 1);
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}
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if (susData.sus10.isValid()) {
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if (susData->sus10.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus10orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus10, susParameters->sus10coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus10, susParameters->sus10coeffAlpha,
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susParameters->sus10coeffBeta),
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sus10VecBody, 3, 3, 1);
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}
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if (susData.sus11.isValid()) {
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if (susData->sus11.isValid()) {
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MatrixOperations<float>::multiply(
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susParameters->sus11orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(susData.sus11, susParameters->sus11coeffAlpha,
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susConverter.getSunVectorSensorFrame(susData->sus11, susParameters->sus11coeffAlpha,
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susParameters->sus11coeffBeta),
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sus11VecBody, 3, 3, 1);
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}
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/* ------ Mean Value: susDirEst ------ */
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// Timo already done
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bool validIds[12] = {susData.sus0.isValid(), susData.sus1.isValid(), susData.sus2.isValid(),
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susData.sus3.isValid(), susData.sus4.isValid(), susData.sus5.isValid(),
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susData.sus6.isValid(), susData.sus7.isValid(), susData.sus8.isValid(),
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susData.sus9.isValid(), susData.sus10.isValid(), susData.sus11.isValid()};
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bool validIds[12] = {
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susData->sus0.isValid(), susData->sus1.isValid(), susData->sus2.isValid(),
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susData->sus3.isValid(), susData->sus4.isValid(), susData->sus5.isValid(),
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susData->sus6.isValid(), susData->sus7.isValid(), susData->sus8.isValid(),
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susData->sus9.isValid(), susData->sus10.isValid(), susData->sus11.isValid()};
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float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
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sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
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sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
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@ -279,7 +279,7 @@ void SensorProcessing::processSus(acsctrl::SusDataRaw susData, timeval timeOfSus
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sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
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double susMeanValue[3] = {0, 0, 0};
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uint8_t validSusCounter = 0;
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float validSusCounter = 0;
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for (uint8_t i = 0; i < 12; i++) {
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if (validIds[i]) {
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susMeanValue[0] += susVecBody[0][i];
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@ -407,40 +407,35 @@ void SensorProcessing::processGps(const double gps0latitude, const double gps0lo
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}
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}
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void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
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ACS::OutputValues *outputValues,
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void SensorProcessing::process(acsctrl::SusDataRaw *susData, timeval now,
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ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
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const AcsParameters *acsParameters) {
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sensorValues->update();
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processGps(sensorValues->gps0latitude, sensorValues->gps0longitude, sensorValues->gps0Valid,
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&outputValues->gcLatitude, &outputValues->gdLongitude);
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// sensorValues->update();
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// processGps(sensorValues->gps0latitude, sensorValues->gps0longitude, sensorValues->gps0Valid,
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// &outputValues->gcLatitude, &outputValues->gdLongitude);
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/*outputValues->mgmUpdated = processMgm(sensorValues->mgm0, sensorValues->mgm0Valid,
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sensorValues->mgm1, sensorValues->mgm1Valid,
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sensorValues->mgm2, sensorValues->mgm2Valid,
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sensorValues->mgm3, sensorValues->mgm3Valid,
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sensorValues->mgm4, sensorValues->mgm4Valid, now,
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&acsParameters->mgmHandlingParameters, outputValues->gcLatitude,
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outputValues->gdLongitude, sensorValues->gps0altitude,
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sensorValues->gps0Valid,
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outputValues->magFieldEst, &outputValues->magFieldEstValid,
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outputValues->magFieldModel, &outputValues->magFieldModelValid,
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outputValues->magneticFieldVectorDerivative,
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&outputValues->magneticFieldVectorDerivativeValid); // VALID outputs- PoolVariable ?
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// outputValues->mgmUpdated = processMgm(sensorValues->mgm0, sensorValues->mgm0Valid,
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// sensorValues->mgm1, sensorValues->mgm1Valid,
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// sensorValues->mgm2, sensorValues->mgm2Valid,
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// sensorValues->mgm3, sensorValues->mgm3Valid,
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// sensorValues->mgm4, sensorValues->mgm4Valid, now,
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// &acsParameters->mgmHandlingParameters, outputValues->gcLatitude,
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// outputValues->gdLongitude, sensorValues->gps0altitude,
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// sensorValues->gps0Valid,
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// outputValues->magFieldEst, &outputValues->magFieldEstValid,
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// outputValues->magFieldModel, &outputValues->magFieldModelValid,
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// outputValues->magneticFieldVectorDerivative,
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// &outputValues->magneticFieldVectorDerivativeValid); // VALID outputs- PoolVariable ?
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processSus(sensorValues->sus0, sensorValues->sus0Valid, sensorValues->sus1,
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sensorValues->sus1Valid, sensorValues->sus2, sensorValues->sus2Valid, sensorValues->sus3,
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sensorValues->sus3Valid, sensorValues->sus4, sensorValues->sus4Valid, sensorValues->sus5,
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sensorValues->sus5Valid, sensorValues->sus6, sensorValues->sus6Valid, sensorValues->sus7,
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sensorValues->sus7Valid, sensorValues->sus8, sensorValues->sus8Valid, sensorValues->sus9,
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sensorValues->sus9Valid, sensorValues->sus10, sensorValues->sus10Valid, sensorValues->sus11,
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sensorValues->sus11Valid, now, &acsParameters->susHandlingParameters,
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&acsParameters->sunModelParameters, outputValues->sunDirEst, &outputValues->sunDirEstValid,
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outputValues->sunDirModel, &outputValues->sunDirModelValid,
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outputValues->sunVectorDerivative, &outputValues->sunVectorDerivativeValid); //
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VALID outputs ?
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*/
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processRmu(sensorValues->rmu0, sensorValues->rmu0Valid, sensorValues->rmu1,
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sensorValues->rmu1Valid, sensorValues->rmu2, sensorValues->rmu2Valid, now,
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&acsParameters->rmuHandlingParameters, outputValues->satRateEst,
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&outputValues->satRateEstValid);
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processSus(susData, now, &acsParameters->susHandlingParameters,
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&acsParameters->sunModelParameters, outputValues->sunDirEst,
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&outputValues->sunDirEstValid, outputValues->sunDirModel,
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&outputValues->sunDirModelValid, outputValues->sunVectorDerivative,
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&outputValues->sunVectorDerivativeValid);
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// VALID outputs ?
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// processRmu(sensorValues->rmu0, sensorValues->rmu0Valid, sensorValues->rmu1,
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// sensorValues->rmu1Valid, sensorValues->rmu2, sensorValues->rmu2Valid, now,
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// &acsParameters->rmuHandlingParameters, outputValues->satRateEst,
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// &outputValues->satRateEstValid);
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}
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@ -9,11 +9,11 @@
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#include <stdint.h> //uint8_t
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#include <time.h> /*purpose, timeval ?*/
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#include "SusConverter.h"
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
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#include "OutputValues.h"
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#include "SensorValues.h"
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#include "SusConverter.h"
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#include "config/classIds.h"
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/*Planned:
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@ -35,7 +35,8 @@ class SensorProcessing {
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SensorProcessing(AcsParameters *acsParameters_);
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virtual ~SensorProcessing();
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void process(timeval now, ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
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void process(acsctrl::SusDataRaw *susData, timeval now, ACS::SensorValues *sensorValues,
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ACS::OutputValues *outputValues,
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const AcsParameters *acsParameters); // Will call protected functions
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private:
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protected:
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@ -49,7 +50,7 @@ class SensorProcessing {
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bool *magFieldModelValid, double *magneticFieldVectorDerivative,
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bool *magneticFieldVectorDerivativeValid); // Output
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void processSus(acsctrl::SusDataRaw susData, timeval timeOfSusMeasurement,
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void processSus(acsctrl::SusDataRaw *susData, timeval timeOfSusMeasurement,
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const AcsParameters::SusHandlingParameters *susParameters,
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const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst,
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bool *sunDirEstValid, double *sunVectorInertial, bool *sunVectorInertialValid,
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