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This commit is contained in:
Marius Eggert
2023-07-19 11:47:23 +02:00
parent 2c9df747e8
commit fbff57dd45
3 changed files with 27 additions and 1 deletions
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14
mission/controller/acs/SensorProcessing.cpp
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@ -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);