Merge pull request 'Prep v7.5.5' (#848) from prep-v7.5.5 into main

Reviewed-on: #848

CHANGELOG.md

@@ -16,6 +16,25 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.5.5] 2024-01-22
+
+## Fixed
+
+- Calculation of error quaternion was done with inverse of the required target quaternion.
+
+# [v7.5.4] 2024-01-16
+
+## Fixed
+
+- Pointing strategy now actually uses fused rotation rate source instead of its valid flag.
+- All datasets now get updated during pointing mode, even if the strategy is a fault one.
+
+# [v7.5.3] 2023-12-19
+
+## Fixed
+
+- Set STR quaternions to invalid in device handler if the solution is not trustworthy.
+
 # [v7.5.2] 2023-12-14
 
 ## Fixed

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
 set(OBSW_VERSION_MINOR 5)
-set(OBSW_VERSION_REVISION 2)
+set(OBSW_VERSION_REVISION 5)
 
 # set(CMAKE_VERBOSE TRUE)
 

mission/acs/str/StarTrackerHandler.cpp

@@ -1162,7 +1162,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       break;
     }
     case (startracker::REQ_SOLUTION): {
-      result = handleTm(packet, solutionSet, "REQ_SOLUTION");
+      result = handleSolution(packet);
       break;
     }
     case (startracker::REQ_CONTRAST): {
@@ -2438,6 +2438,36 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
   return result;
 }
 
+ReturnValue_t StarTrackerHandler::handleSolution(const uint8_t* rawFrame) {
+  ReturnValue_t result = statusFieldCheck(rawFrame);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PoolReadGuard pg(&solutionSet);
+  if (pg.getReadResult() != returnvalue::OK) {
+    return result;
+  }
+  const uint8_t* reply = rawFrame + TICKS_OFFSET;
+  solutionSet.setValidityBufferGeneration(false);
+  size_t sizeLeft = fullPacketLen;
+  result = solutionSet.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
+  if (result != returnvalue::OK) {
+    sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for solution set: 0x"
+                 << std::hex << std::setw(4) << result << std::dec << std::endl;
+  }
+  solutionSet.setValidityBufferGeneration(true);
+  solutionSet.setValidity(true, true);
+  solutionSet.caliQw.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQx.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQy.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.caliQz.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQw.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQx.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQy.setValid(solutionSet.isTrustWorthy.value);
+  solutionSet.trackQz.setValid(solutionSet.isTrustWorthy.value);
+  return result;
+}
+
 ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
   ReturnValue_t result = statusFieldCheck(rawFrame);
   if (result != returnvalue::OK) {

mission/acs/str/StarTrackerHandler.h

@@ -527,6 +527,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
                          const char* context);
 
+  ReturnValue_t handleSolution(const uint8_t* rawFrame);
   ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
   ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
   ReturnValue_t handleBlobTm(const uint8_t* rawFrame);

mission/controller/AcsController.cpp

@@ -403,14 +403,17 @@ void AcsController::performPointingCtrl() {
   acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
       attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
-      fusedRotRateData.rotRateSource.isValid(), useMekf);
+      fusedRotRateData.rotRateSource.value, useMekf);
 
-  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
+  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL or
+      ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
     ptgCtrlLostCounter++;
     if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
       triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
       ptgCtrlLostCounter = 0;
     }
+    updateCtrlValData(ptgCtrlStrat);
+    updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16);
     commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                      cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                      acsParameters.rwHandlingParameters.rampTime);
@@ -437,7 +440,7 @@ void AcsController::performPointingCtrl() {
       std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
       break;
     default:
-      sif::error << "AcsController: Invalid pointing mode strategy for performDetumble"
+      sif::error << "AcsController: Invalid pointing mode strategy for performPointingCtrl"
                  << std::endl;
       break;
   }
@@ -593,7 +596,7 @@ void AcsController::performPointingCtrl() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
 
-  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
+  updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate, ptgCtrlStrat);
   updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
@@ -671,7 +674,7 @@ void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
   }
 }
 
-void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@@ -682,13 +685,13 @@ void AcsController::updateCtrlValData(uint8_t safeModeStrat) {
     ctrlValData.errAng.setValid(false);
     std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
     ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
     ctrlValData.safeStrat.setValid(true);
     ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
+void AcsController::updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, ZERO_VEC4, 4 * sizeof(double));
@@ -699,21 +702,22 @@ void AcsController::updateCtrlValData(double errAng, uint8_t safeModeStrat) {
     ctrlValData.errAng.setValid(true);
     std::memcpy(ctrlValData.tgtRotRate.value, ZERO_VEC3, 3 * sizeof(double));
     ctrlValData.tgtRotRate.setValid(false);
-    ctrlValData.safeStrat.value = safeModeStrat;
+    ctrlValData.safeStrat.value = ctrlStrat;
     ctrlValData.safeStrat.setValid(true);
     ctrlValData.setValidity(true, false);
   }
 }
 
 void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng,
-                                      const double *tgtRotRate) {
+                                      const double *tgtRotRate,
+                                      acs::ControlModeStrategy ctrlStrat) {
   PoolReadGuard pg(&ctrlValData);
   if (pg.getReadResult() == returnvalue::OK) {
     std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
     std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
     ctrlValData.errAng.value = errAng;
     std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
-    ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF;
+    ctrlValData.safeStrat.value = ctrlStrat;
     ctrlValData.setValidity(true, true);
   }
 }

mission/controller/AcsController.h

@@ -52,6 +52,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void performPointingCtrl();
 
  private:
+  static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
   static constexpr double ZERO_VEC3[3] = {0, 0, 0};
   static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
   static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
@@ -143,10 +144,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateActuatorCmdData(const int16_t* mtqTargetDipole);
   void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                              const int16_t* mtqTargetDipole);
-  void updateCtrlValData(uint8_t safeModeStrat);
-  void updateCtrlValData(double errAng, uint8_t safeModeStrat);
+  void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
+  void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
-                         const double* tgtRotRate);
+                         const double* tgtRotRate, acs::ControlModeStrategy cStrat);
 
   ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
   ReturnValue_t writeTleToFs(const uint8_t* tle);

mission/controller/acs/Guidance.cpp

@@ -418,7 +418,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                           double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
   // First calculate error quaternion between current and target orientation
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
+  double invTargetQuat[4] = {0, 0, 0, 0};
+  QuaternionOperations::inverse(targetQuat, invTargetQuat);
+  QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
   // Last calculate add rotation from reference quaternion
   QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
   // Keep scalar part of quaternion positive

mission/controller/acs/control/PtgCtrl.cpp

@@ -21,9 +21,8 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
     return acs::ControlModeStrategy::PTGCTRL_STR;
   } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
     return acs::ControlModeStrategy::PTGCTRL_QUEST;
-  } else {
-    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
   }
+  return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
 }
 
 void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,