Merge pull request 'Fix inverted X-Axis for PTG Target' (#875) from fix-tgt-ptg into main

Reviewed-on: #875
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,30 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.7.2] 2024-03-06
+
+## Fixed
+
+- Camera and E-band antenna now point towards the target instead of away from the target for the
+  pointing target mode.
+
+# [v7.7.1] 2024-03-06
+
+- Bumped `eive-tmtc` to v6.1.1
+- Bumped `eive-fsfw`
+
+## Added
+
+- The `CoreController` now sets the leap seconds on initalization. They are stored in a persistent
+  file. If the file does yet not exist, it will be created. The leap seconds can be updated using an
+  action command. This will also update the file.
+
+## Fixed
+
+- Fixed wrong dimension of a matrix within the `MEKF`, which would lead to a seg fault, if the
+  star tracker was available.
+- Fixed case in which control values within the `AcsController` could become NaN.
+
 # [v7.7.0] 2024-02-29
 
 - Bumped `eive-tmtc` to v6.1.0

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
 set(OBSW_VERSION_MINOR 7)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 2)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_q7s/core/CoreController.cpp

@@ -480,6 +480,16 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       successRecipient = commandedBy;
       return returnvalue::OK;
     }
+    case (UPDATE_LEAP_SECONDS): {
+      if (size != sizeof(uint16_t)) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      ReturnValue_t result = actionUpdateLeapSeconds(data);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -1411,6 +1421,9 @@ void CoreController::performMountedSdCardOperations() {
       if (not timeFileInitDone) {
         initClockFromTimeFile();
       }
+      if (not leapSecondsInitDone) {
+        initLeapSeconds();
+      }
       performRebootWatchdogHandling(false);
       performRebootCountersHandling(false);
     }
@@ -2066,6 +2079,71 @@ ReturnValue_t CoreController::backupTimeFileHandler() {
   return returnvalue::OK;
 }
 
+void CoreController::initLeapSeconds() {
+  ReturnValue_t result = initLeapSecondsFromFile();
+  if (result != returnvalue::OK) {
+    Clock::setLeapSeconds(config::LEAP_SECONDS);
+    writeLeapSecondsToFile(config::LEAP_SECONDS);
+  }
+  leapSecondsInitDone = true;
+}
+
+ReturnValue_t CoreController::initLeapSecondsFromFile() {
+  std::string fileName = currMntPrefix + LEAP_SECONDS_FILE;
+  std::error_code e;
+  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e)) {
+    std::ifstream leapSecondsFile(fileName);
+    std::string nextWord;
+    std::getline(leapSecondsFile, nextWord);
+    std::istringstream iss(nextWord);
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "LEAP") {
+      return returnvalue::FAILED;
+    }
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "SECONDS:") {
+      return returnvalue::FAILED;
+    }
+    iss >> nextWord;
+    uint16_t leapSeconds = 0;
+    leapSeconds = std::stoi(nextWord.c_str());
+    if (iss.bad()) {
+      return returnvalue::FAILED;
+    }
+    Clock::setLeapSeconds(leapSeconds);
+    return returnvalue::OK;
+  }
+  sif::error
+      << "CoreController::leapSecondsFileHandler: Initalization of leap seconds from file failed"
+      << std::endl;
+  return returnvalue::FAILED;
+};
+
+ReturnValue_t CoreController::writeLeapSecondsToFile(const uint16_t leapSeconds) {
+  std::string fileName = currMntPrefix + LEAP_SECONDS_FILE;
+  if (not sdcMan->isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::ofstream leapSecondsFile(fileName.c_str(), std::ofstream::out | std::ofstream::trunc);
+  if (not leapSecondsFile.good()) {
+    sif::error << "CoreController::leapSecondsFileHandler: Error opening leap seconds file: "
+               << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  leapSecondsFile << "LEAP SECONDS: " << leapSeconds << std::endl;
+  return returnvalue::OK;
+};
+
+ReturnValue_t CoreController::actionUpdateLeapSeconds(const uint8_t *data) {
+  uint16_t leapSeconds = data[1] | (data[0] << 8);
+  ReturnValue_t result = writeLeapSecondsToFile(leapSeconds);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  Clock::setLeapSeconds(leapSeconds);
+  return returnvalue::OK;
+}
+
 ReturnValue_t CoreController::initClockFromTimeFile() {
   using namespace GpsHyperion;
   using namespace std;

bsp_q7s/core/CoreController.h

@@ -150,6 +150,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
       std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
   const std::string REBOOT_WATCHDOG_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
+  const std::string LEAP_SECONDS_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::LEAP_SECONDS_FILE_NAME);
   const std::string BACKUP_TIME_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
   const std::string REBOOT_COUNTERS_FILE =
@@ -296,6 +298,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   std::string currMntPrefix;
   bool timeFileInitDone = false;
+  bool leapSecondsInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
 #if OBSW_THREAD_TRACING == 1
@@ -335,7 +338,11 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
 
+  void initLeapSeconds();
+  ReturnValue_t initLeapSecondsFromFile();
   ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t actionUpdateLeapSeconds(const uint8_t* data);
+  ReturnValue_t writeLeapSecondsToFile(const uint16_t leapSeconds);
   ReturnValue_t performSdCardCheck();
   ReturnValue_t backupTimeFileHandler();
   ReturnValue_t initBootCopyFile();

common/config/eive/definitions.h

@@ -20,6 +20,9 @@ static constexpr char OBSW_VERSION_FILE_PATH[] = "/usr/share/eive-obsw/obsw_vers
 // ISO8601 timestamp.
 static constexpr char FILE_DATE_FORMAT[] = "%FT%H%M%SZ";
 
+// Leap Seconds as of 2024-03-04
+static constexpr uint16_t LEAP_SECONDS = 37;
+
 static constexpr uint16_t EIVE_PUS_APID = 0x65;
 static constexpr uint16_t EIVE_CFDP_APID = 0x66;
 static constexpr uint16_t EIVE_LOCAL_CFDP_ENTITY_ID = EIVE_CFDP_APID;

mission/controller/acs/Guidance.cpp

@@ -59,6 +59,7 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
   // this aligns with the camera, E- and S-band antennas
   double xAxisIX[3] = {0, 0, 0};
   VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
+  VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
 
   // transform velocity into inertial frame
   double velSatI[3] = {0, 0, 0};
@@ -273,7 +274,11 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
   QuaternionOperations::multiply(quatIXtilde, quatXI, quatXXtilde);
 
   double phiResidual = 0, phiResidualVec[3] = {0, 0, 0};
-  phiResidual = std::sqrt((phiMax * phiMax) - (phiX * phiX));
+  if ((phiX * phiX) > (phiMax * phiMax)) {
+    phiResidual = 0;
+  } else {
+    phiResidual = std::sqrt((phiMax * phiMax) - (phiX * phiX));
+  }
   std::memcpy(phiResidualVec, quatXXtilde, sizeof(phiResidualVec));
   VectorOperations<double>::normalize(phiResidualVec, phiResidualVec, 3);
 

mission/controller/acs/Igrf13Model.cpp

@@ -69,7 +69,8 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
   magFieldModel[1] *= -1;
   magFieldModel[2] *= (-1 / sin(theta));
 
-  double JD2000 = TimeSystems::convertUnixToJD2000(timeOfMagMeasurement);
+  double JD2000 = 0;
+  Clock::convertTimevalToJD2000(timeOfMagMeasurement, &JD2000);
   double UT1 = JD2000 / 36525.;
 
   double gst =
@@ -93,7 +94,8 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
 
 void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
   double JD2000Igrf = (2458850.0 - 2451545);  // Begin of IGRF-13 (2020-01-01,00:00:00) in JD2000
-  double JD2000 = TimeSystems::convertUnixToJD2000(timeOfMagMeasurement);
+  double JD2000 = 0;
+  Clock::convertTimevalToJD2000(timeOfMagMeasurement, &JD2000);
   double days = ceil(JD2000 - JD2000Igrf);
   for (int i = 0; i <= igrfOrder; i++) {
     for (int j = 0; j <= (igrfOrder - 1); j++) {

mission/controller/acs/Igrf13Model.h

@@ -16,11 +16,11 @@
 #ifndef IGRF13MODEL_H_
 #define IGRF13MODEL_H_
 
-#include <fsfw/src/fsfw/globalfunctions/TimeSystems.h>
 #include <fsfw/src/fsfw/globalfunctions/constants.h>
 #include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/src/fsfw/timemanager/Clock.h>
 
 #include <cmath>
 

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -342,7 +342,7 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[6][matrixDimensionFactor] = {{0}},
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
          invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
          residualCov[6][matrixDimensionFactor] = {{0}},
          measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};

mission/controller/acs/SensorProcessing.cpp

@@ -180,7 +180,8 @@ void SensorProcessing::processSus(
     const AcsParameters::SunModelParameters *sunModelParameters,
     acsctrl::SusDataProcessed *susDataProcessed) {
   /* -------- Sun Model Direction (IJK frame) ------- */
-  double JD2000 = TimeSystems::convertUnixToJD2000(timeAbsolute);
+  double JD2000 = 0;
+  Clock::convertTimevalToJD2000(timeAbsolute, &JD2000);
 
   // Julean Centuries
   double sunIjkModel[3] = {0.0, 0.0, 0.0};

mission/controller/acs/SensorProcessing.h

@@ -4,13 +4,13 @@
 #include <common/config/eive/resultClassIds.h>
 #include <fsfw/coordinates/CoordinateTransformations.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/TimeSystems.h>
 #include <fsfw/globalfunctions/constants.h>
 #include <fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/timemanager/Clock.h>
 #include <mission/acs/defs.h>
 #include <mission/controller/acs/AcsParameters.h>
 #include <mission/controller/acs/Igrf13Model.h>

mission/sysDefs.h

@@ -55,6 +55,7 @@ static constexpr char VERSION_FILE_NAME[] = "version.txt";
 static constexpr char LEGACY_REBOOT_WATCHDOG_FILE_NAME[] = "reboot.txt";
 static constexpr char REBOOT_WATCHDOG_FILE_NAME[] = "reboot_watchdog.txt";
 static constexpr char REBOOT_COUNTER_FILE_NAME[] = "reboot_counters.txt";
+static constexpr char LEAP_SECONDS_FILE_NAME[] = "leapseconds.txt";
 static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
 
 static constexpr uint32_t SYS_ROM_BASE_ADDR = 0x80000000;
@@ -93,6 +94,8 @@ static constexpr ActionId_t MV_HELPER = 53;
 static constexpr ActionId_t RM_HELPER = 54;
 static constexpr ActionId_t MKDIR_HELPER = 55;
 
+static constexpr ActionId_t UPDATE_LEAP_SECONDS = 60;
+
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
 static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);