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Merge pull request 'Some ACS bugfixes' (#459) from acs-ctrl-bugfixes into develop
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Reviewed-on: #459
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-03-13 10:27:05 +01:00
commit fde644cdbf
3 changed files with 11 additions and 3 deletions
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5
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- Pointing control of the `AcsController` was still expecting submodes instead of modes.
- Limitation of RW speeds was done before converting them to the correct unit scale.
# [v1.37.0] 2023-03-11 # [v1.37.0] 2023-03-11
eive-tmtc: v2.18.1 eive-tmtc: v2.18.1

5
mission/controller/AcsController.cpp
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@ -304,7 +304,7 @@ void AcsController::performPointingCtrl() {
// Variables required for setting actuators // Variables required for setting actuators
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0}, double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
mgtDpDes[3] = {0, 0, 0}; mgtDpDes[3] = {0, 0, 0};
switch (submode) { switch (mode) {
case acs::PTG_IDLE: case acs::PTG_IDLE:
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate); guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
@ -416,6 +416,9 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
default:
sif::error << "AcsController: Invalid mode for performPointingCtrl";
break;
} }
actuatorCmd.cmdSpeedToRws( actuatorCmd.cmdSpeedToRws(

2
mission/controller/acs/ActuatorCmd.cpp
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@ -42,6 +42,7 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
deltaSpeedInt[i] = std::round(deltaSpeed[i]); deltaSpeedInt[i] = std::round(deltaSpeed[i]);
} }
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4); VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) { if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed; rwCmdSpeed[i] = maxRwSpeed;
@ -49,7 +50,6 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
rwCmdSpeed[i] = -maxRwSpeed; rwCmdSpeed[i] = -maxRwSpeed;
} }
} }
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
} }
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator, void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,