Merge pull request 'Prep v7.7.4' (#882) from prep-v7.7.4 into main

Reviewed-on: #882

CHANGELOG.md

@@ -16,6 +16,38 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.7.4] 2024-03-21
+
+## Changed
+
+- Rotational rate limit for the GS target pointing is now seperated from controller limit. It
+  is also reduced to 0.75°/s now.
+
+## Fixed
+
+- Fixed wrong sign in calculation of total current within the `PWR Controller`.
+
+# [v7.7.3] 2024-03-18
+
+- Bumped `eive-fsfw`
+
+## Added
+
+- Added parameter to disable STR input for MEKF.
+
+## Changed
+
+- If a primary heater is set to `EXTERNAL CONTROL` and `ON`, the `TCS Controller` will no
+  try to control the temperature of that object.
+- Set lower OP limit of `PLOC` to -5°C.
+
+## Fixed
+
+- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the
+  performance of the controller.
+- Heaters set to `EXTERNAL CONTROL` no longer can be switched off by the `TCS Controller`, if
+  they violate the maximum burn duration of the controller.
+
 # [v7.7.2] 2024-03-06
 
 ## Fixed

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 2)
+set(OBSW_VERSION_REVISION 4)
 
 # set(CMAKE_VERBOSE TRUE)
 

mission/controller/AcsController.cpp

@@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() {
       mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
       &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, timeDelta, &attitudeEstimationData);
+                              &susDataProcessed, timeDelta, &attitudeEstimationData,
+                              acsParameters.kalmanFilterParameters.allowStr);
 
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {

mission/controller/PowerController.cpp

@@ -182,7 +182,7 @@ void PowerController::calculateStateOfCharge() {
   }
 
   // calculate total battery current
-  iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
+  iBat = p60CoreHk.batteryCurrent.value - bpxBatteryHk.dischargeCurrent.value;
 
   result = calculateOpenCircuitVoltageCharge();
   if (result != returnvalue::OK) {

mission/controller/ThermalController.cpp

@@ -1641,7 +1641,11 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re
   bool heaterAvailable = true;
 
   HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
+  heater::SwitchState mainState = heaterHandler.getSwitchState(switchNr);
   HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth == HasHealthIF::EXTERNAL_CONTROL and mainState == heater::SwitchState::ON) {
+    return false;
+  }
   if (mainHealth != HasHealthIF::HEALTHY) {
     if (redHealth == HasHealthIF::HEALTHY) {
       switchNr = redSwitchNr;
@@ -1656,6 +1660,7 @@ bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch re
   } else {
     ctrlCtx.redSwitchNrInUse = false;
   }
+
   return heaterAvailable;
 }
 
@@ -1792,7 +1797,8 @@ void ThermalController::heaterMaxDurationControl(
   for (unsigned i = 0; i < heater::Switch::NUMBER_OF_SWITCHES; i++) {
     // Right now, we only track the maximum duration for heater which were commanded by the TCS
     // controller.
-    if (currentHeaterStates[i] == heater::SwitchState::ON and
+    if (heaterHandler.getHealth(static_cast<heater::Switch>(i)) != HasHealthIF::EXTERNAL_CONTROL and
+        currentHeaterStates[i] == heater::SwitchState::ON and
         heaterStates[i].trackHeaterMaxBurnTime and
         heaterStates[i].heaterOnMaxBurnTime.hasTimedOut()) {
       heaterStates[i].switchTransition = false;

mission/controller/ThermalController.h

@@ -197,9 +197,9 @@ class ThermalController : public ExtendedControllerBase {
   tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
   tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
   tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
-  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
+  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60);
   tcsCtrl::TempLimits plocProcessingBoardLimits =
-      tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
+      tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60.0);
   tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
   tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
   tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);

mission/controller/acs/AcsParameters.cpp

@@ -554,6 +554,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0xE:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
+        case 0xF:
+          parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -734,6 +737,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x5:
           parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs);
           break;
+        case 0x6:
+          parameterWrapper->set(kalmanFilterParameters.allowStr);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -898,6 +898,7 @@ class AcsParameters : public HasParametersIF {
     double latitudeTgt = 48.7495 * DEG2RAD;   // [rad] Latitude
     double longitudeTgt = 9.10384 * DEG2RAD;  // [rad] Longitude
     double altitudeTgt = 500;                 // [m]
+    double rotRateLimit = .75 * DEG2RAD;
   } gsTargetModeControllerParameters;
 
   struct NadirModeControllerParameters : PointingLawParameters {
@@ -947,6 +948,8 @@ class AcsParameters : public HasParametersIF {
 
     double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD;  // Angular Random Walk
     double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD;               // Bias Stability
+
+    uint8_t allowStr = false;
   } kalmanFilterParameters;
 
   struct MagnetorquerParameter {

mission/controller/acs/Guidance.cpp

@@ -244,12 +244,14 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
     return;
   }
 
+  QuaternionOperations::preventSignJump(quatIX, quatIXprev);
+
   // check required rotation and return if below limit
   double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
   QuaternionOperations::inverse(quatIXprev, quatXprevI);
   QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
   QuaternionOperations::normalize(quatXprevX);
-  double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
+  double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
                   acsParameters->onBoardParams.sampleTime;
   if (2 * std::acos(quatXprevX[3]) < phiMax) {
     return;

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -626,11 +626,11 @@ void MultiplicativeKalmanFilter::updateDataSet(
   }
 }
 
-void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW,
-                                            bool valid) {
+void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, bool valid,
+                                            bool allowStr) {
   strData.strQuat.value[0] = qX;
   strData.strQuat.value[1] = qY;
   strData.strQuat.value[2] = qZ;
   strData.strQuat.value[3] = qW;
-  strData.strQuat.valid = valid;
+  strData.strQuat.valid = (valid and allowStr);
 }

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -38,7 +38,7 @@ class MultiplicativeKalmanFilter {
   void updateStandardDeviations(const AcsParameters *acsParameters);
 
   void setStrData(const double qX, const double qY, const double qZ, const double qW,
-                  const bool valid);
+                  const bool valid, const bool allowStr);
 
   static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
   static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);

mission/controller/acs/Navigation.cpp

@@ -9,11 +9,12 @@ ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues,
                                   const acsctrl::MgmDataProcessed *mgmDataProcessed,
                                   const acsctrl::SusDataProcessed *susDataProcessed,
                                   const double timeDelta,
-                                  acsctrl::AttitudeEstimationData *attitudeEstimationData) {
+                                  acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                                  const bool allowStr) {
   multiplicativeKalmanFilter.setStrData(
       sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value,
-      sensorValues->strSet.caliQx.isValid());
+      sensorValues->strSet.caliQx.isValid(), allowStr);
 
   if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
     mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed,

mission/controller/acs/Navigation.h

@@ -17,7 +17,8 @@ class Navigation {
                         const acsctrl::GyrDataProcessed *gyrDataProcessed,
                         const acsctrl::MgmDataProcessed *mgmDataProcessed,
                         const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta,
-                        acsctrl::AttitudeEstimationData *attitudeEstimationData);
+                        acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                        const bool allowStr);
   void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
 
   ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);