From fbff57dd454876c043bbaf93d16341dece0842f3 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 19 Jul 2023 11:47:23 +0200
Subject: [PATCH] filter galore

---
 mission/controller/acs/AcsParameters.cpp    |  9 +++++++++
 mission/controller/acs/AcsParameters.h      |  5 ++++-
 mission/controller/acs/SensorProcessing.cpp | 14 ++++++++++++++
 3 files changed, 27 insertions(+), 1 deletion(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index eea30389..57135dc1 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -105,6 +105,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
           break;
         case 0x12:
+          parameterWrapper->set(mgmHandlingParameters.mgmVectorFilterWeight);
+          break;
+        case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
         default:
@@ -224,6 +227,12 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x24:
           parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
           break;
+        case 0x25:
+          parameterWrapper->set(susHandlingParameters.susVectorFilterWeight);
+          break;
+        case 0x26:
+          parameterWrapper->set(susHandlingParameters.susRateFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 9e13070f..661c7adc 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -77,7 +77,8 @@ class AcsParameters : public HasParametersIF {
     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)};
-    float mgmDerivativeFilterWeight = 0.5;
+    float mgmVectorFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.85;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
@@ -767,6 +768,8 @@ class AcsParameters : public HasParametersIF {
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
+    float susVectorFilterWeight = .85;
+    float susRateFilterWeight = .85;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index 0279215f..511cae35 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -132,6 +132,10 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   for (uint8_t i = 0; i < 3; i++) {
     mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
   }
+  if (VectorOperations<double>::norm(mgmVecTot, 3) != 0 and mgmDataProcessed->mgmVecTot.isValid()) {
+    lowPassFilter(mgmVecTot, mgmDataProcessed->mgmVecTot.value,
+                  mgmParameters->mgmVectorFilterWeight);
+  }
 
   //-----------------------Mgm Rate Computation ---------------------------------------------------
   double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
@@ -351,6 +355,11 @@ void SensorProcessing::processSus(
   double susVecTot[3] = {0.0, 0.0, 0.0};
   VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
 
+  if (VectorOperations<double>::norm(susVecTot, 3) != 0 and susDataProcessed->susVecTot.isValid()) {
+    lowPassFilter(susVecTot, susDataProcessed->susVecTot.value,
+                  susParameters->susVectorFilterWeight);
+  }
+
   /* -------- Sun Derivatiative --------------------- */
 
   double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
@@ -363,6 +372,11 @@ void SensorProcessing::processSus(
       susVecTotDerivativeValid = true;
     }
   }
+  if (VectorOperations<double>::norm(susVecTotDerivative, 3) != 0 and
+      susDataProcessed->susVecTotDerivative.isValid()) {
+    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
+                  susParameters->susRateFilterWeight);
+  }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
   {
     PoolReadGuard pg(susDataProcessed);