eive/eive-obsw
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Persistent TM Store #320

Merged
muellerr merged 109 commits from mueller/pus-15-tm-storage into develop 2023-02-24 19:03:39 +01:00
Conversation 0 Commits 109 Files Changed 62 +7233 -500
64 changed files with 7233 additions and 500 deletions
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Showing only changes of commit 578b4a4408 - Show all commits

7
CHANGELOG.md
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@ -8,6 +8,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
list yields a list of all related PRs for each release.
# [unreleased]
## Added
- First version of ACS controller
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
# [v1.18.0] 01.12.2022
## Changed

7
bsp_hosted/OBSWConfig.h.in
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@ -102,11 +102,8 @@
/** CMake Defines */
/*******************************************************************/
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
// because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_USE_TMTC_TCP_BRIDGE 0
#define OBSW_ADD_TMTC_UDP_SERVER 1
#define OBSW_ADD_TMTC_TCP_SERVER 1
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

5
bsp_hosted/ObjectFactory.cpp
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@ -15,10 +15,11 @@
#include "fsfw_tests/integration/task/TestTask.h"
#include "tmtc/pusIds.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif

62
bsp_hosted/scheduling.cpp
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@ -68,14 +68,24 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
sif::error << "Object add component failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TMTC_BRIDGE);
result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
@ -138,15 +148,6 @@ void scheduling::initTasks() {
PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
}
result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
}
result = thermalTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
@ -183,9 +184,41 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
"DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
dummyTask->addComponent(objects::RTD_6_IC9_DRO);
dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
dummyTask->addComponent(objects::RTD_8_IC11_X8);
dummyTask->addComponent(objects::RTD_9_IC12_HPA);
dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
dummyTask->addComponent(objects::RTD_11_IC14_MPA);
dummyTask->addComponent(objects::RTD_12_IC15_ACU);
dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask();
tmtcPollingTask->startTask();
udpPollingTask->startTask();
tcpPollingTask->startTask();
pusVerification->startTask();
eventHandling->startTask();
@ -195,6 +228,7 @@ void scheduling::initTasks() {
pstTask->startTask();
thermalTask->startTask();
dummyTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif

5
bsp_q7s/OBSWConfig.h.in
View File

@ -23,7 +23,7 @@
#define OBSW_ADD_SUN_SENSORS @OBSW_ADD_SUN_SENSORS@
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
#define OBSW_ADD_ACS_CTRL @OBSW_ADD_ACS_CTRL@
#define OBSW_ADD_ACS_CTRL 1
#define OBSW_ADD_GPS_CTRL @OBSW_ADD_GPS_CTRL@
#define OBSW_ADD_TCS_CTRL @OBSW_ADD_TCS_CTRL@
#define OBSW_ADD_RW @OBSW_ADD_RW@
@ -124,7 +124,8 @@
// because UDP packets are not allowed in the VPN
// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
// CCSDS IP Cores.
#define OBSW_USE_TMTC_TCP_BRIDGE 1
#define OBSW_ADD_TMTC_TCP_SERVER 1
#define OBSW_ADD_TMTC_UDP_SERVER 1
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER

5
bsp_q7s/core/CoreController.cpp
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@ -10,9 +10,10 @@
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
#include "watchdog/definitions.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#if OBSW_ADD_TMTC_UDP_SERVER == 1
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif
#include <fcntl.h>

72
bsp_q7s/core/scheduling.cpp
View File

@ -92,11 +92,19 @@ void scheduling::initTasks() {
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_BRIDGE == 1
result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
}
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
}
#endif
#endif
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
@ -115,14 +123,24 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
}
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
}
#endif
#endif
#if OBSW_ADD_CCSDS_IP_CORES == 1
PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
@ -165,6 +183,35 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
@ -320,8 +367,13 @@ void scheduling::initTasks() {
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcPollingTask->startTask();
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
tcpPollingTask->startTask();
#endif
#endif
#if OBSW_ADD_CCSDS_IP_CORES == 1

2
common/config/commonConfig.h.in
View File

@ -17,7 +17,7 @@ debugging. */
#define OBSW_ADD_LWGPS_TEST 0
// Disable this for mission code. It allows exchanging TMTC packets via the Ethernet port
#define OBSW_ADD_TCPIP_BRIDGE 1
#define OBSW_ADD_TCPIP_SERVERS 1
#define OBSW_ADD_CFDP_COMPONENTS 1

6
common/config/eive/objects.h
View File

@ -8,8 +8,10 @@ enum commonObjects : uint32_t {
/* First Byte 0x50-0x52 reserved for PUS Services **/
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
TMTC_BRIDGE = 0x50000300,
TMTC_POLLING_TASK = 0x50000400,
TCP_TMTC_SERVER = 0x50000300,
UDP_TMTC_SERVER = 0x50000301,
TCP_TMTC_POLLING_TASK = 0x50000400,
UDP_TMTC_POLLING_TASK = 0x50000401,
FILE_SYSTEM_HANDLER = 0x50000500,
SDC_MANAGER = 0x50000550,
PTME = 0x50000600,

1
dummies/CMakeLists.txt
View File

@ -13,6 +13,7 @@ target_sources(
PduDummy.cpp
P60DockDummy.cpp
SaDeploymentDummy.cpp
GpsDummy.cpp
GyroAdisDummy.cpp
GyroL3GD20Dummy.cpp
MgmLIS3MDLDummy.cpp

56
dummies/GpsDummy.cpp Normal file
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@ -0,0 +1,56 @@
#include "GpsDummy.h"
#include <mission/devices/devicedefinitions/GPSDefinitions.h>
GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
GpsDummy::~GpsDummy() {}
void GpsDummy::doStartUp() {}
void GpsDummy::doShutDown() {}
ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
return returnvalue::OK;
}
ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
return returnvalue::OK;
}
ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return returnvalue::OK;
}
void GpsDummy::fillCommandAndReplyMap() {}
uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({7684.2}));
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({0}));
return returnvalue::OK;
}

33
dummies/GpsDummy.h Normal file
View File

@ -0,0 +1,33 @@
#ifndef DUMMIES_GPSDUMMY_H_
#define DUMMIES_GPSDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class GpsDummy : public DeviceHandlerBase {
public:
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
static const DeviceCommandId_t PERIODIC_REPLY = 2;
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~GpsDummy();
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
};
#endif /* DUMMIES_GPSDUMMY_H_ */

7
dummies/GyroAdisDummy.cpp
View File

@ -40,6 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

6
dummies/GyroL3GD20Dummy.cpp
View File

@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

4
dummies/ImtqDummy.cpp
View File

@ -39,5 +39,9 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
return returnvalue::OK;
}

2
dummies/MgmLIS3MDLDummy.cpp
View File

@ -41,5 +41,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
new PoolEntry<float>({1.02, 0.56, -0.78}, true));
return returnvalue::OK;
}

4
dummies/MgmRm3100Dummy.cpp
View File

@ -36,5 +36,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return OK;
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
new PoolEntry<float>({0.87, -0.95, 0.11}, true));
return returnvalue::OK;
}

24
dummies/StarTrackerDummy.cpp
View File

@ -41,5 +41,29 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(startracker::CALI_QW, new PoolEntry<float>({1.0}, true));
localDataPoolMap.emplace(startracker::CALI_QX, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::CALI_QY, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::CALI_QZ, new PoolEntry<float>({0.0}, true));
localDataPoolMap.emplace(startracker::TRACK_CONFIDENCE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QW, new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(startracker::TRACK_QX, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QY, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_QZ, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::LISA_QW, new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(startracker::LISA_QX, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_QY, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
return returnvalue::OK;
}

88
dummies/SusDummy.cpp
View File

@ -1,79 +1,43 @@
#include "SusDummy.h"
#include <objects/systemObjectList.h>
SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), susSet(this) {}
#include <cmath>
#include <cstdlib>
SusDummy::~SusDummy() {}
SusDummy::SusDummy() : ExtendedControllerBase(objects::SUS_0_N_LOC_XFYFZM_PT_XF), susSet(this) {
ObjectManager::instance()->insert(objects::SUS_6_R_LOC_XFYBZM_PT_XF, this);
ObjectManager::instance()->insert(objects::SUS_1_N_LOC_XBYFZM_PT_XB, this);
ObjectManager::instance()->insert(objects::SUS_7_R_LOC_XBYBZM_PT_XB, this);
ObjectManager::instance()->insert(objects::SUS_2_N_LOC_XFYBZB_PT_YB, this);
ObjectManager::instance()->insert(objects::SUS_8_R_LOC_XBYBZB_PT_YB, this);
ObjectManager::instance()->insert(objects::SUS_3_N_LOC_XFYBZF_PT_YF, this);
ObjectManager::instance()->insert(objects::SUS_9_R_LOC_XBYBZB_PT_YF, this);
ObjectManager::instance()->insert(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, this);
ObjectManager::instance()->insert(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, this);
ObjectManager::instance()->insert(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, this);
ObjectManager::instance()->insert(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
void SusDummy::doStartUp() {}
void SusDummy::doShutDown() {}
ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
ReturnValue_t SusDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return NOTHING_TO_SEND;
}
ReturnValue_t SusDummy::initialize() {
static bool done = false;
if (not done) {
done = true;
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
}
ReturnValue_t SusDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
return returnvalue::OK;
}
ReturnValue_t SusDummy::handleCommandMessage(CommandMessage* message) {
return returnvalue::FAILED;
ReturnValue_t SusDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
return returnvalue::OK;
}
void SusDummy::performControlOperation() {
iteration++;
value = sin(iteration / 80. * M_PI + 10) * 10 - 10;
susSet.read();
susSet.temperatureCelcius = value;
if ((iteration % 100) < 20) {
susSet.setValidity(false, true);
} else {
susSet.setValidity(true, true);
}
susSet.commit();
ReturnValue_t SusDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
return returnvalue::OK;
}
ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
void SusDummy::fillCommandAndReplyMap() {}
uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
return returnvalue::OK;
}
LocalPoolDataSetBase* SusDummy::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case SUS::SUS_DATA_SET_ID:
return &susSet;
default:
return nullptr;
}
}
ReturnValue_t SusDummy::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
return INVALID_MODE;
}
return returnvalue::OK;
}

49
dummies/SusDummy.h
View File

@ -1,27 +1,36 @@
#pragma once
#ifndef DUMMIES_SUSDUMMY_H_
#define DUMMIES_SUSDUMMY_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <mission/devices/devicedefinitions/SusDefinitions.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class SusDummy : public ExtendedControllerBase {
#include "mission/devices/devicedefinitions/SusDefinitions.h"
class SusDummy : public DeviceHandlerBase {
public:
SusDummy();
static const DeviceCommandId_t SIMPLE_COMMAND = 1;
static const DeviceCommandId_t PERIODIC_REPLY = 2;
ReturnValue_t initialize() override;
static const uint8_t SIMPLE_COMMAND_DATA = 1;
static const uint8_t PERIODIC_REPLY_DATA = 2;
SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
virtual ~SusDummy();
protected:
virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
virtual void performControlOperation() override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
int iteration = 0;
float value = 0;
SUS::SusDataset susSet;
};
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
};
#endif /* DUMMIES_SUSDUMMY_H_ */

15
dummies/helpers.cpp
View File

@ -5,6 +5,7 @@
#include <dummies/ComCookieDummy.h>
#include <dummies/ComIFDummy.h>
#include <dummies/CoreControllerDummy.h>
#include <dummies/GpsDummy.h>
#include <dummies/GyroAdisDummy.h>
#include <dummies/GyroL3GD20Dummy.h>
#include <dummies/ImtqDummy.h>
@ -59,10 +60,22 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
new GpsDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
}
if (cfg.addSusDummies) {
new SusDummy();
new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
}
if (cfg.addTempSensorDummies) {

2
fsfw

@ -1 +1 @@
Subproject commit 1b005d706a97155ff8d6f3487e5fd4f34e6580fe
Subproject commit 75fc7a056db2a4aee8c20c225fd3c2b79fce8ce3

556
generators/bsp_q7s_returnvalues.csv
View File

@ -2,12 +2,13 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@ -25,8 +26,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
@ -44,42 +49,133 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x2f01;ASC_NoPacketFound;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2f02;ASC_PossiblePacketLoss;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0802;DPS_SetWasAlreadyRead;;2;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0803;DPS_CommitingWithoutReading;;3;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b00;SB_ConnBroken;;0;SUBSYSTEM_BASE;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
@ -101,73 +197,26 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@ -208,12 +257,35 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
@ -222,125 +294,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0802;DPS_SetWasAlreadyRead;;2;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0803;DPS_CommitingWithoutReading;;3;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0500;PS_SwitchOff;;0;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
@ -358,28 +311,10 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a04;TRC_BothValuesOol;;4;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a05;TRC_DuplexOol;;5;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x3101;LIM_Unchecked;;1;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3102;LIM_Invalid;;2;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3103;LIM_Unselected;;3;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3104;LIM_BelowLowLimit;;4;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3105;LIM_AboveHighLimit;;5;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3106;LIM_UnexpectedValue;;6;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3107;LIM_OutOfRange;;7;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31a0;LIM_FirstSample;;160;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e0;LIM_InvalidSize;;224;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e1;LIM_WrongType;;225;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
@ -394,16 +329,56 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0500;PS_SwitchOff;;0;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@ -413,12 +388,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@ -440,12 +415,37 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a04;TRC_BothValuesOol;;4;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x1a05;TRC_DuplexOol;;5;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
0x3101;LIM_Unchecked;;1;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3102;LIM_Invalid;;2;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3103;LIM_Unselected;;3;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3104;LIM_BelowLowLimit;;4;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3105;LIM_AboveHighLimit;;5;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3106;LIM_UnexpectedValue;;6;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3107;LIM_OutOfRange;;7;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31a0;LIM_FirstSample;;160;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e0;LIM_InvalidSize;;224;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e1;LIM_WrongType;;225;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
@ -462,8 +462,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
@ -474,4 +472,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

1 Full ID (hex) Name Description Unique ID Subsytem Name File Path
2 0x0000 OK System-wide code for ok. 0 HasReturnvaluesIF fsfw/returnvalues/returnvalue.h
3 0x0001 Failed Unspecified system-wide code for failed. 1 HasReturnvaluesIF fsfw/returnvalues/returnvalue.h
4 0x60a0 CCSDS_CommandNotImplemented Received action message with unknown action id 160 CCSDS_HANDLER mission/tmtc/CcsdsIpCoreHandler.h
5 0x63a0 0x66a0 NVMB_KeyNotExists SADPL_CommandNotSupported Specified key does not exist in json file 160 NVM_PARAM_BASE SA_DEPL_HANDLER mission/memory/NVMParameterBase.h mission/devices/SolarArrayDeploymentHandler.h
6 0x6d01 0x66a1 ACSDTB_DetumbleNoSensordata SADPL_DeploymentAlreadyExecuting No description 1 161 ACS_DETUMBLE SA_DEPL_HANDLER mission/controller/acs/control/Detumble.h mission/devices/SolarArrayDeploymentHandler.h
7 0x6c01 0x66a2 ACSPTG_PtgctrlMekfInputInvalid SADPL_MainSwitchTimeoutFailure No description 1 162 ACS_PTG SA_DEPL_HANDLER mission/controller/acs/control/PtgCtrl.h mission/devices/SolarArrayDeploymentHandler.h
8 0x6b01 0x66a3 ACSSAF_SafectrlMekfInputInvalid SADPL_SwitchingDeplSa1Failed No description 1 163 ACS_SAFE SA_DEPL_HANDLER mission/controller/acs/control/SafeCtrl.h mission/devices/SolarArrayDeploymentHandler.h
9 0x6a02 0x66a4 ACSMEKF_MekfUninitialized SADPL_SwitchingDeplSa2Failed No description 2 164 ACS_MEKF SA_DEPL_HANDLER mission/controller/acs/MultiplicativeKalmanFilter.h mission/devices/SolarArrayDeploymentHandler.h
10 0x6a03 0x58a0 ACSMEKF_MekfNoGyrData SUSS_ErrorUnlockMutex No description 3 160 ACS_MEKF SUS_HANDLER mission/controller/acs/MultiplicativeKalmanFilter.h mission/devices/SusHandler.h
11 0x58a1 SUSS_ErrorLockMutex 161 SUS_HANDLER mission/devices/SusHandler.h
12 0x6a04 0x52b0 ACSMEKF_MekfNoModelVectors RWHA_SpiWriteFailure No description 4 176 ACS_MEKF RW_HANDLER mission/controller/acs/MultiplicativeKalmanFilter.h mission/devices/RwHandler.h
13 0x6a05 0x52b1 ACSMEKF_MekfNoSusMgmStrData RWHA_SpiReadFailure No description Used by the spi send function to tell a failing read call 5 177 ACS_MEKF RW_HANDLER mission/controller/acs/MultiplicativeKalmanFilter.h mission/devices/RwHandler.h
14 0x6a06 0x52b2 ACSMEKF_MekfCovarianceInversionFailed RWHA_MissingStartSign No description Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E 6 178 ACS_MEKF RW_HANDLER mission/controller/acs/MultiplicativeKalmanFilter.h mission/devices/RwHandler.h
26 0x5100 0x4fa3 IMTQ_InvalidCommandCode HEATER_InvalidSwitchNr No description 0 163 IMTQ_HANDLER HEATER_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/HeaterHandler.h
27 0x5101 0x4fa4 IMTQ_MgmMeasurementLowLevelError HEATER_MainSwitchSetTimeout No description 1 164 IMTQ_HANDLER HEATER_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/HeaterHandler.h
28 0x5102 0x4fa5 IMTQ_ActuateCmdLowLevelError HEATER_CommandAlreadyWaiting No description 2 165 IMTQ_HANDLER HEATER_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/HeaterHandler.h
29 0x5103 0x5d00 IMTQ_ParameterMissing GOMS_PacketTooLong No description 3 0 IMTQ_HANDLER GOM_SPACE_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/GomspaceDeviceHandler.h
30 0x5104 0x5d01 IMTQ_ParameterInvalid GOMS_InvalidTableId No description 4 1 IMTQ_HANDLER GOM_SPACE_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/GomspaceDeviceHandler.h
31 0x5d02 GOMS_InvalidAddress 2 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
32 0x5d03 GOMS_InvalidParamSize 3 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
33 0x5d04 GOMS_InvalidPayloadSize 4 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
34 0x5d05 GOMS_UnknownReplyId 5 GOM_SPACE_HANDLER mission/devices/GomspaceDeviceHandler.h
35 0x5105 0x51a0 IMTQ_CcUnavailable IMTQ_InvalidCommandCode No description 5 160 IMTQ_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/ImtqHandler.h
36 0x5106 0x51a1 IMTQ_InternalProcessingError IMTQ_ParameterMissing No description 6 161 IMTQ_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/ImtqHandler.h
37 0x5107 0x51a2 IMTQ_RejectedWithoutReason IMTQ_ParameterInvalid No description 7 162 IMTQ_HANDLER mission/devices/devicedefinitions/imtqHelpers.h mission/devices/ImtqHandler.h
49 0x50a4 0x50a6 SYRLINKS_BadEndOfFrameAck SYRLINKS_BadCrcAck No description 164 166 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h mission/devices/SyrlinksHkHandler.h
50 0x50a5 0x50a7 SYRLINKS_UnknownCommandIdAck SYRLINKS_ReplyWrongSize No description 165 167 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h mission/devices/SyrlinksHkHandler.h
51 0x50a6 0x50a8 SYRLINKS_BadCrcAck SYRLINKS_MissingStartFrameCharacter No description 166 168 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h mission/devices/SyrlinksHkHandler.h
0x50a7 SYRLINKS_ReplyWrongSize No description 167 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
0x50a8 SYRLINKS_MissingStartFrameCharacter No description 168 SYRLINKS_HANDLER mission/devices/SyrlinksHandler.h
0x58a0 SUSS_ErrorUnlockMutex No description 160 SUS_HANDLER mission/devices/SusHandler.h
0x58a1 SUSS_ErrorLockMutex No description 161 SUS_HANDLER mission/devices/SusHandler.h
0x4fa1 HEATER_InvalidRampTime Action Message with invalid ramp time was received. 161 HEATER_HANDLER mission/devices/RwHandler.h
52 0x4fa2 0x63a0 HEATER_SetSpeedCommandInvalidLength NVMB_KeyNotExists Received set speed command has invalid length. Should be 6. Specified key does not exist in json file 162 160 HEATER_HANDLER NVM_PARAM_BASE mission/devices/RwHandler.h mission/memory/NVMParameterBase.h
53 0x4fa3 0x3c00 HEATER_ExecutionFailed LPIF_PoolEntryNotFound Command execution failed 163 0 HEATER_HANDLER LOCAL_POOL_OWNER_IF mission/devices/RwHandler.h fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
54 0x4fa4 0x3c01 HEATER_CrcError LPIF_PoolEntryTypeConflict Reaction wheel reply has invalid crc 164 1 HEATER_HANDLER LOCAL_POOL_OWNER_IF mission/devices/RwHandler.h fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
55 0x4fa5 0x3e00 HEATER_ValueNotRead HKM_QueueOrDestinationInvalid No description 165 0 HEATER_HANDLER HOUSEKEEPING_MANAGER mission/devices/RwHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
56 0x4fa0 0x3e01 HEATER_InvalidSpeed HKM_WrongHkPacketType Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000] 160 1 HEATER_HANDLER HOUSEKEEPING_MANAGER mission/devices/RwHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
57 0x5d00 0x3e02 GOMS_PacketTooLong HKM_ReportingStatusUnchanged No description 0 2 GOM_SPACE_HANDLER HOUSEKEEPING_MANAGER mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
58 0x5d01 0x3e03 GOMS_InvalidTableId HKM_PeriodicHelperInvalid No description 1 3 GOM_SPACE_HANDLER HOUSEKEEPING_MANAGER mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
59 0x5d02 0x3e04 GOMS_InvalidAddress HKM_PoolobjectNotFound No description 2 4 GOM_SPACE_HANDLER HOUSEKEEPING_MANAGER mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
60 0x5d03 0x3e05 GOMS_InvalidParamSize HKM_DatasetNotFound No description 3 5 GOM_SPACE_HANDLER HOUSEKEEPING_MANAGER mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
61 0x5d04 0x3601 GOMS_InvalidPayloadSize CFDP_InvalidTlvType No description 4 1 GOM_SPACE_HANDLER CFDP mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/cfdp/definitions.h
62 0x5d05 0x3602 GOMS_UnknownReplyId CFDP_InvalidDirectiveField No description 5 2 GOM_SPACE_HANDLER CFDP mission/devices/GomspaceDeviceHandler.h fsfw/src/fsfw/cfdp/definitions.h
63 0x38a1 0x3603 SGP4_InvalidEccentricity CFDP_InvalidPduDatafieldLen No description 161 3 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
64 0x38a2 0x3604 SGP4_InvalidMeanMotion CFDP_InvalidAckDirectiveFields No description 162 4 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
65 0x38a3 0x3605 SGP4_InvalidPerturbationElements CFDP_MetadataCantParseOptions No description 163 5 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
66 0x38a4 0x3606 SGP4_InvalidSemiLatusRectum CFDP_NakCantParseOptions No description 164 6 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
67 0x38a5 0x3607 SGP4_InvalidEpochElements CFDP_FinishedCantParseFsResponses No description 165 7 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
68 0x38a6 0x3608 SGP4_SatelliteHasDecayed CFDP_FilestoreRequiresSecondFile No description 166 8 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
69 0x38b1 0x3609 SGP4_TleTooOld CFDP_FilestoreResponseCantParseFsMessage No description 177 9 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
70 0x38b2 0x360a SGP4_TleNotInitialized CFDP_InvalidPduFormat No description 178 10 SGP4PROPAGATOR_CLASS CFDP fsfw/src/fsfw/coordinates/Sgp4Propagator.h fsfw/src/fsfw/cfdp/definitions.h
71 0x2801 0x3201 SM_DataTooLarge CF_ObjectHasNoFunctions No description 1 STORAGE_MANAGER_IF COMMANDS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/CommandsActionsIF.h
72 0x2802 0x3202 SM_DataStorageFull CF_AlreadyCommanding No description 2 STORAGE_MANAGER_IF COMMANDS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/CommandsActionsIF.h
73 0x2803 0x3301 SM_IllegalStorageId HF_IsBusy No description 3 1 STORAGE_MANAGER_IF HAS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/HasActionsIF.h
74 0x2804 0x3302 SM_DataDoesNotExist HF_InvalidParameters No description 4 2 STORAGE_MANAGER_IF HAS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/HasActionsIF.h
75 0x2805 0x3303 SM_IllegalAddress HF_ExecutionFinished No description 5 3 STORAGE_MANAGER_IF HAS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/HasActionsIF.h
76 0x2806 0x3304 SM_PoolTooLarge HF_InvalidActionId No description 6 4 STORAGE_MANAGER_IF HAS_ACTIONS_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h fsfw/src/fsfw/action/HasActionsIF.h
77 0x1a01 0x1e00 TRC_NotEnoughSensors PUS_InvalidPusVersion No description 1 0 TRIPLE_REDUNDACY_CHECK PUS_IF fsfw/src/fsfw/monitoring/TriplexMonitor.h fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
78 0x1a02 0x1e01 TRC_LowestValueOol PUS_InvalidCrc16 No description 2 1 TRIPLE_REDUNDACY_CHECK PUS_IF fsfw/src/fsfw/monitoring/TriplexMonitor.h fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
79 0x1a03 0x2e01 TRC_HighestValueOol HPA_InvalidIdentifierId No description 3 1 TRIPLE_REDUNDACY_CHECK HAS_PARAMETERS_IF fsfw/src/fsfw/monitoring/TriplexMonitor.h fsfw/src/fsfw/parameters/HasParametersIF.h
80 0x1a04 0x2e02 TRC_BothValuesOol HPA_InvalidDomainId No description 4 2 TRIPLE_REDUNDACY_CHECK HAS_PARAMETERS_IF fsfw/src/fsfw/monitoring/TriplexMonitor.h fsfw/src/fsfw/parameters/HasParametersIF.h
81 0x1a05 0x2e03 TRC_DuplexOol HPA_InvalidValue No description 5 3 TRIPLE_REDUNDACY_CHECK HAS_PARAMETERS_IF fsfw/src/fsfw/monitoring/TriplexMonitor.h fsfw/src/fsfw/parameters/HasParametersIF.h
82 0x3101 0x2e05 LIM_Unchecked HPA_ReadOnly No description 1 5 LIMITS_IF HAS_PARAMETERS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h fsfw/src/fsfw/parameters/HasParametersIF.h
83 0x2d01 PAW_UnknownDatatype 1 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
84 0x2d02 PAW_DatatypeMissmatch 2 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
85 0x2d03 PAW_Readonly 3 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
86 0x2d04 PAW_TooBig 4 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
87 0x2d05 PAW_SourceNotSet 5 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
88 0x2d06 PAW_OutOfBounds 6 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
89 0x2d07 PAW_NotSet 7 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
90 0x2d08 PAW_ColumnOrRowsZero 8 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
91 0x1701 HHI_ObjectNotHealthy 1 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
92 0x1702 HHI_InvalidHealthState 2 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
93 0x1703 HHI_IsExternallyControlled 3 HAS_HEALTH_IF fsfw/src/fsfw/health/HasHealthIF.h
94 0x2801 SM_DataTooLarge 1 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
95 0x2802 SM_DataStorageFull 2 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
96 0x2803 SM_IllegalStorageId 3 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
97 0x2804 SM_DataDoesNotExist 4 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
98 0x2805 SM_IllegalAddress 5 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
99 0x2806 SM_PoolTooLarge 6 STORAGE_MANAGER_IF fsfw/src/fsfw/storagemanager/StorageManagerIF.h
100 0x2401 MT_TooDetailedRequest 1 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
101 0x2402 MT_TooGeneralRequest 2 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
102 0x2403 MT_NoMatch 3 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
103 0x2404 MT_Full 4 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
104 0x2405 MT_NewNodeCreated 5 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
105 0x3f01 DLEE_StreamTooShort 1 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleEncoder.h
106 0x3f02 DLEE_DecodingError 2 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleEncoder.h
107 0x2f01 ASC_NoPacketFound 1 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/DleParser.h
108 0x2f02 ASC_PossiblePacketLoss 2 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/DleParser.h
109 0x2f03 ASC_BufferTooSmall 3 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
110 0x4201 PUS11_InvalidTypeTimeWindow 1 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
111 0x4202 PUS11_InvalidTimeWindow 2 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
112 0x4203 PUS11_TimeshiftingNotPossible 3 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
113 0x4204 PUS11_InvalidRelativeTime 4 PUS_SERVICE_11 fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
114 0x1c01 TCD_PacketLost 1 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
115 0x1c02 TCD_DestinationNotFound 2 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
116 0x1c03 TCD_ServiceIdAlreadyExists 3 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
117 0x1b00 TCC_NoDestinationFound 0 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
118 0x1b01 TCC_InvalidCcsdsVersion 1 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
119 0x1b02 TCC_InvalidApid 2 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
120 0x1b03 TCC_InvalidPacketType 3 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
121 0x1b04 TCC_InvalidSecHeaderField 4 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
122 0x1b05 TCC_IncorrectPrimaryHeader 5 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
123 0x1b07 TCC_IncompletePacket 7 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
124 0x1b08 TCC_InvalidPusVersion 8 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
125 0x1b09 TCC_IncorrectChecksum 9 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
126 0x1b0a TCC_IllegalPacketSubtype 10 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
127 0x1b0b TCC_IncorrectSecondaryHeader 11 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
128 0x3a01 MQI_Empty 1 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
129 0x3a02 MQI_Full No space left for more messages 2 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
130 0x3a03 MQI_NoReplyPartner Returned if a reply method was called without partner 3 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
131 0x3a04 MQI_DestinationInvalid Returned if the target destination is invalid. 4 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
132 0x0f01 CM_UnknownCommand 1 COMMAND_MESSAGE fsfw/src/fsfw/ipc/CommandMessageIF.h
133 0x3901 MUX_NotEnoughResources 1 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
134 0x3902 MUX_InsufficientMemory 2 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
135 0x3903 MUX_NoPrivilege 3 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
136 0x3904 MUX_WrongAttributeSetting 4 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
137 0x3905 MUX_MutexAlreadyLocked 5 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
138 0x3906 MUX_MutexNotFound 6 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
139 0x3907 MUX_MutexMaxLocks 7 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
140 0x3908 MUX_CurrThreadAlreadyOwnsMutex 8 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
141 0x3909 MUX_CurrThreadDoesNotOwnMutex 9 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
142 0x390a MUX_MutexTimeout 10 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
143 0x390b MUX_MutexInvalidId 11 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
144 0x390c MUX_MutexDestroyedWhileWaiting 12 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
145 0x2901 TC_InvalidTargetState 1 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
146 0x29f1 TC_AboveOperationalLimit 241 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
147 0x29f2 TC_BelowOperationalLimit 242 THERMAL_COMPONENT_IF fsfw/src/fsfw/thermal/ThermalComponentIF.h
148 0x0801 DPS_InvalidParameterDefinition 1 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
149 0x0802 DPS_SetWasAlreadyRead 2 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
150 0x0803 DPS_CommitingWithoutReading 3 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
151 0x0804 DPS_DataSetUninitialised 4 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
152 0x0805 DPS_DataSetFull 5 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
153 0x0806 DPS_PoolVarNull 6 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
154 0x3da0 PVA_InvalidReadWriteMode 160 POOL_VARIABLE_IF fsfw/src/fsfw/datapool/PoolVariableIF.h
155 0x3da1 PVA_InvalidPoolEntry 161 POOL_VARIABLE_IF fsfw/src/fsfw/datapool/PoolVariableIF.h
156 0x0c02 MS_InvalidEntry 2 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
157 0x0c03 MS_TooManyElements 3 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
158 0x0c04 MS_CantStoreEmpty 4 MODE_STORE_IF fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
159 0x0d01 SS_SequenceAlreadyExists 1 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
160 0x0d02 SS_TableAlreadyExists 2 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
161 0x0d03 SS_TableDoesNotExist 3 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
162 0x0d04 SS_TableOrSequenceLengthInvalid 4 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
163 0x0d05 SS_SequenceDoesNotExist 5 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
164 0x0d06 SS_TableContainsInvalidObjectId 6 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
165 0x0d07 SS_FallbackSequenceDoesNotExist 7 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
166 0x0d08 SS_NoTargetTable 8 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
167 0x0d09 SS_SequenceOrTableTooLong 9 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
168 0x0d0b SS_IsFallbackSequence 11 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
169 0x0d0c SS_AccessDenied 12 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
170 0x0d0e SS_TableInUse 14 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
171 0x0da1 SS_TargetTableNotReached 161 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
172 0x0da2 SS_TableCheckFailed 162 SUBSYSTEM fsfw/src/fsfw/subsystem/Subsystem.h
173 0x0b01 SB_ChildNotFound 1 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
174 0x0b02 SB_ChildInfoUpdated 2 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
175 0x0b03 SB_ChildDoesntHaveModes 3 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
176 0x0b04 SB_CouldNotInsertChild 4 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
177 0x0b05 SB_TableContainsInvalidObjectId 5 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
178 0x0b00 SB_ConnBroken 0 SUBSYSTEM_BASE fsfw/src/fsfw/osal/common/TcpTmTcServer.h
179 0x3102 0x2a01 LIM_Invalid IEC_NoConfigurationTable No description 2 1 LIMITS_IF INTERNAL_ERROR_CODES fsfw/src/fsfw/monitoring/MonitoringIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
180 0x3103 0x2a02 LIM_Unselected IEC_NoCpuTable No description 3 2 LIMITS_IF INTERNAL_ERROR_CODES fsfw/src/fsfw/monitoring/MonitoringIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
181 0x3104 0x2a03 LIM_BelowLowLimit IEC_InvalidWorkspaceAddress No description 4 3 LIMITS_IF INTERNAL_ERROR_CODES fsfw/src/fsfw/monitoring/MonitoringIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
197 0x13e3 0x2a13 MH_StateMismatch IEC_ImplementationBlockingOperationCancel No description 227 19 MEMORY_HELPER INTERNAL_ERROR_CODES fsfw/src/fsfw/memory/MemoryHelper.h fsfw/src/fsfw/osal/InternalErrorCodes.h
198 0x0601 0x2a14 PP_DoItMyself IEC_MutexObtainFromBadState No description 1 20 HAS_MEMORY_IF INTERNAL_ERROR_CODES fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
199 0x0602 0x2a15 PP_PointsToVariable IEC_UnlimitedAndMaximumIs0 No description 2 21 HAS_MEMORY_IF INTERNAL_ERROR_CODES fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/osal/InternalErrorCodes.h
200 0x0603 0x1401 PP_PointsToMemory SE_BufferTooShort No description 3 1 HAS_MEMORY_IF SERIALIZE_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/serialize/SerializeIF.h
201 0x0604 0x1402 PP_ActivityCompleted SE_StreamTooShort No description 4 2 HAS_MEMORY_IF SERIALIZE_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/serialize/SerializeIF.h
202 0x0605 0x1403 PP_PointsToVectorUint8 SE_TooManyElements No description 5 3 HAS_MEMORY_IF SERIALIZE_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/serialize/SerializeIF.h
203 0x0606 0x4c00 PP_PointsToVectorUint16 SPPA_NoPacketFound No description 6 0 HAS_MEMORY_IF SPACE_PACKET_PARSER fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
204 0x0607 0x4c01 PP_PointsToVectorUint32 SPPA_SplitPacket No description 7 1 HAS_MEMORY_IF SPACE_PACKET_PARSER fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
205 0x0608 0x1d01 PP_PointsToVectorFloat ATC_ActivityStarted No description 8 1 HAS_MEMORY_IF ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
206 0x06a0 0x1d02 PP_DumpNotSupported ATC_InvalidSubservice No description 160 2 HAS_MEMORY_IF ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
207 0x06e0 0x1d03 PP_InvalidSize ATC_IllegalApplicationData No description 224 3 HAS_MEMORY_IF ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
208 0x06e1 0x1d04 PP_InvalidAddress ATC_SendTmFailed No description 225 4 HAS_MEMORY_IF ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
209 0x06e2 0x1d05 PP_InvalidContent ATC_Timeout No description 226 5 HAS_MEMORY_IF ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
210 0x06e3 0x2001 PP_UnalignedAccess CSB_ExecutionComplete No description 227 1 HAS_MEMORY_IF COMMAND_SERVICE_BASE fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
211 0x06e4 0x2002 PP_WriteProtected CSB_NoStepMessage No description 228 2 HAS_MEMORY_IF COMMAND_SERVICE_BASE fsfw/src/fsfw/memory/HasMemoryIF.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
212 0x4c00 0x2003 SPPA_NoPacketFound CSB_ObjectBusy No description 0 3 SPACE_PACKET_PARSER COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/SpacePacketParser.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
213 0x4c01 0x2004 SPPA_SplitPacket CSB_Busy No description 1 4 SPACE_PACKET_PARSER COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/SpacePacketParser.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
214 0x1d01 0x2005 ATC_ActivityStarted CSB_InvalidTc No description 1 5 ACCEPTS_TELECOMMANDS_IF COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
215 0x1d02 0x2006 ATC_InvalidSubservice CSB_InvalidObject No description 2 6 ACCEPTS_TELECOMMANDS_IF COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
216 0x1d03 0x2007 ATC_IllegalApplicationData CSB_InvalidReply No description 3 7 ACCEPTS_TELECOMMANDS_IF COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x1d04 ATC_SendTmFailed No description 4 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x1d05 ATC_Timeout No description 5 ACCEPTS_TELECOMMANDS_IF fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
0x2001 CSB_ExecutionComplete No description 1 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2002 CSB_NoStepMessage No description 2 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2003 CSB_ObjectBusy No description 3 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2004 CSB_Busy No description 4 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2005 CSB_InvalidTc No description 5 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2006 CSB_InvalidObject No description 6 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
0x2007 CSB_InvalidReply No description 7 COMMAND_SERVICE_BASE fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
217 0x3da0 0x2600 PVA_InvalidReadWriteMode FDI_YourFault No description 160 0 POOL_VARIABLE_IF HANDLES_FAILURES_IF fsfw/src/fsfw/datapool/PoolVariableIF.h fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
218 0x3da1 0x2601 PVA_InvalidPoolEntry FDI_MyFault No description 161 1 POOL_VARIABLE_IF HANDLES_FAILURES_IF fsfw/src/fsfw/datapool/PoolVariableIF.h fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
219 0x0801 0x2602 DPS_InvalidParameterDefinition FDI_ConfirmLater No description 1 2 DATA_SET_CLASS HANDLES_FAILURES_IF fsfw/src/fsfw/datapool/DataSetIF.h fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
0x0802 DPS_SetWasAlreadyRead No description 2 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
0x0803 DPS_CommitingWithoutReading No description 3 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
0x0804 DPS_DataSetUninitialised No description 4 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
0x0805 DPS_DataSetFull No description 5 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
0x0806 DPS_PoolVarNull No description 6 DATA_SET_CLASS fsfw/src/fsfw/datapool/DataSetIF.h
0x3a01 MQI_Empty No description 1 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a02 MQI_Full No space left for more messages 2 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a03 MQI_NoReplyPartner Returned if a reply method was called without partner 3 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x3a04 MQI_DestinationInvalid Returned if the target destination is invalid. 4 MESSAGE_QUEUE_IF fsfw/src/fsfw/ipc/MessageQueueIF.h
0x0f01 CM_UnknownCommand No description 1 COMMAND_MESSAGE fsfw/src/fsfw/ipc/CommandMessageIF.h
0x3901 MUX_NotEnoughResources No description 1 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3902 MUX_InsufficientMemory No description 2 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3903 MUX_NoPrivilege No description 3 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3904 MUX_WrongAttributeSetting No description 4 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3905 MUX_MutexAlreadyLocked No description 5 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3906 MUX_MutexNotFound No description 6 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3907 MUX_MutexMaxLocks No description 7 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3908 MUX_CurrThreadAlreadyOwnsMutex No description 8 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x3909 MUX_CurrThreadDoesNotOwnMutex No description 9 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390a MUX_MutexTimeout No description 10 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390b MUX_MutexInvalidId No description 11 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x390c MUX_MutexDestroyedWhileWaiting No description 12 MUTEX_IF fsfw/src/fsfw/ipc/MutexIF.h
0x1601 FMM_MapFull No description 1 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1602 FMM_KeyDoesNotExist No description 2 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
0x1801 FF_Full No description 1 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
0x1802 FF_Empty No description 2 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
0x03a0 DHB_InvalidChannel No description 160 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b0 DHB_AperiodicReply No description 176 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b1 DHB_IgnoreReplyData No description 177 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03b2 DHB_IgnoreFullPacket No description 178 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03c0 DHB_NothingToSend No description 192 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03c2 DHB_CommandMapError No description 194 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03d0 DHB_NoSwitch No description 208 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e0 DHB_ChildTimeout No description 224 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x03e1 DHB_SwitchFailed No description 225 DEVICE_HANDLER_BASE fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
0x1201 AB_NeedSecondStep No description 1 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1202 AB_NeedToReconfigure No description 2 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
0x1203 AB_ModeFallback No description 3 ASSEMBLY_BASE fsfw/src/fsfw/devicehandlers/AssemblyBase.h
220 0x1204 0x04e1 AB_ChildNotCommandable RMP_CommandNoDescriptorsAvailable No description 4 225 ASSEMBLY_BASE RMAP_CHANNEL fsfw/src/fsfw/devicehandlers/AssemblyBase.h fsfw/src/fsfw/rmap/RMAP.h
221 0x1205 0x04e2 AB_NeedToChangeHealth RMP_CommandBufferFull No description 5 226 ASSEMBLY_BASE RMAP_CHANNEL fsfw/src/fsfw/devicehandlers/AssemblyBase.h fsfw/src/fsfw/rmap/RMAP.h
222 0x12a1 0x04e3 AB_NotEnoughChildrenInCorrectState RMP_CommandChannelOutOfRange No description 161 227 ASSEMBLY_BASE RMAP_CHANNEL fsfw/src/fsfw/devicehandlers/AssemblyBase.h fsfw/src/fsfw/rmap/RMAP.h
257 0x3602 0x040a CFDP_InvalidDirectiveField RMP_ReplyCommandNotImplementedOrNotAuthorised No description 2 10 CFDP RMAP_CHANNEL fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/rmap/RMAP.h
258 0x3603 0x040b CFDP_InvalidPduDatafieldLen RMP_ReplyRmwDataLengthError No description 3 11 CFDP RMAP_CHANNEL fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/rmap/RMAP.h
259 0x3604 0x040c CFDP_InvalidAckDirectiveFields RMP_ReplyInvalidTargetLogicalAddress No description 4 12 CFDP RMAP_CHANNEL fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/rmap/RMAP.h
260 0x3605 0x2c01 CFDP_MetadataCantParseOptions CCS_BcIsSetVrCommand No description 5 1 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
261 0x3606 0x2c02 CFDP_NakCantParseOptions CCS_BcIsUnlockCommand No description 6 2 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
262 0x3607 0x2cb0 CFDP_FinishedCantParseFsResponses CCS_BcIllegalCommand No description 7 176 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
263 0x3608 0x2cb1 CFDP_FilestoreRequiresSecondFile CCS_BoardReadingNotFinished No description 8 177 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
264 0x3609 0x2cf0 CFDP_FilestoreResponseCantParseFsMessage CCS_NsPositiveW No description 9 240 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
265 0x360a 0x2cf1 CFDP_InvalidPduFormat CCS_NsNegativeW No description 10 241 CFDP CCSDS_HANDLER_IF fsfw/src/fsfw/cfdp/definitions.h fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
266 0x2cf2 CCS_NsLockout 242 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
267 0x2cf3 CCS_FarmInLockout 243 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
268 0x2cf4 CCS_FarmInWait 244 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
269 0x2ce0 CCS_WrongSymbol 224 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
270 0x2ce1 CCS_DoubleStart 225 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
271 0x2ce2 CCS_StartSymbolMissed 226 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
272 0x2ce3 CCS_EndWithoutStart 227 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
273 0x2ce4 CCS_TooLarge 228 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
274 0x2ce5 CCS_TooShort 229 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
275 0x2ce6 CCS_WrongTfVersion 230 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
276 0x2ce7 CCS_WrongSpacecraftId 231 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
277 0x2ce8 CCS_NoValidFrameType 232 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
278 0x2ce9 CCS_CrcFailed 233 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
279 0x2cea CCS_VcNotFound 234 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
280 0x2ceb CCS_ForwardingFailed 235 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
281 0x2cec CCS_ContentTooLarge 236 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
282 0x2ced CCS_ResidualData 237 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
283 0x2cee CCS_DataCorrupted 238 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
284 0x2cef CCS_IllegalSegmentationFlag 239 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
285 0x2cd0 CCS_IllegalFlagCombination 208 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
286 0x2cd1 CCS_ShorterThanHeader 209 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
287 0x2cd2 CCS_TooShortBlockedPacket 210 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
288 0x2cd3 CCS_TooShortMapExtraction 211 CCSDS_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
289 0x04e1 0x38a1 RMP_CommandNoDescriptorsAvailable SGP4_InvalidEccentricity No description 225 161 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
290 0x04e2 0x38a2 RMP_CommandBufferFull SGP4_InvalidMeanMotion No description 226 162 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
291 0x04e3 0x38a3 RMP_CommandChannelOutOfRange SGP4_InvalidPerturbationElements No description 227 163 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
294 0x04e8 0x38a6 RMP_CommandPortInUse SGP4_SatelliteHasDecayed No description 232 166 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
295 0x04e9 0x38b1 RMP_CommandNoChannel SGP4_TleTooOld No description 233 177 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
296 0x04ea 0x38b2 RMP_NoHwCrc SGP4_TleNotInitialized No description 234 178 RMAP_CHANNEL SGP4PROPAGATOR_CLASS fsfw/src/fsfw/rmap/RMAP.h fsfw/src/fsfw/coordinates/Sgp4Propagator.h
0x04d0 RMP_ReplyNoReply No description 208 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04d1 RMP_ReplyNotSent No description 209 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04d2 RMP_ReplyNotYetSent No description 210 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04d3 RMP_ReplyMissmatch No description 211 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04d4 RMP_ReplyTimeout No description 212 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04c0 RMP_ReplyInterfaceBusy No description 192 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04c1 RMP_ReplyTransmissionError No description 193 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04c2 RMP_ReplyInvalidData No description 194 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04c3 RMP_ReplyNotSupported No description 195 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f0 RMP_LinkDown No description 240 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f1 RMP_SpwCredit No description 241 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f2 RMP_SpwEscape No description 242 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f3 RMP_SpwDisconnect No description 243 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f4 RMP_SpwParity No description 244 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f5 RMP_SpwWriteSync No description 245 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f6 RMP_SpwInvalidAddress No description 246 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f7 RMP_SpwEarlyEop No description 247 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f8 RMP_SpwDma No description 248 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x04f9 RMP_SpwLinkError No description 249 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0400 RMP_ReplyOk No description 0 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0401 RMP_ReplyGeneralErrorCode No description 1 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0402 RMP_ReplyUnusedPacketTypeOrCommandCode No description 2 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0403 RMP_ReplyInvalidKey No description 3 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0404 RMP_ReplyInvalidDataCrc No description 4 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0405 RMP_ReplyEarlyEop No description 5 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0406 RMP_ReplyTooMuchData No description 6 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0407 RMP_ReplyEep No description 7 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0408 RMP_ReplyReserved No description 8 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x0409 RMP_ReplyVerifyBufferOverrun No description 9 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x040a RMP_ReplyCommandNotImplementedOrNotAuthorised No description 10 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x040b RMP_ReplyRmwDataLengthError No description 11 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x040c RMP_ReplyInvalidTargetLogicalAddress No description 12 RMAP_CHANNEL fsfw/src/fsfw/rmap/RMAP.h
0x3b01 SPH_SemaphoreTimeout No description 1 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b02 SPH_SemaphoreNotOwned No description 2 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x3b03 SPH_SemaphoreInvalid No description 3 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
0x0e01 HM_InvalidMode No description 1 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
0x0e02 HM_TransNotAllowed No description 2 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
0x0e03 HM_InTransition No description 3 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
0x0e04 HM_InvalidSubmode No description 4 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
0x2101 TMB_Busy No description 1 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2102 TMB_Full No description 2 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2103 TMB_Empty No description 3 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2104 TMB_NullRequested No description 4 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2105 TMB_TooLarge No description 5 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2106 TMB_NotReady No description 6 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2107 TMB_DumpError No description 7 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2108 TMB_CrcError No description 8 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2109 TMB_Timeout No description 9 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210a TMB_IdlePacketFound No description 10 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210b TMB_TelecommandFound No description 11 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210c TMB_NoPusATm No description 12 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210d TMB_TooSmall No description 13 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210e TMB_BlockNotFound No description 14 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x210f TMB_InvalidRequest No description 15 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
0x2201 TMF_Busy No description 1 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2202 TMF_LastPacketFound No description 2 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2203 TMF_StopFetch No description 3 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2204 TMF_Timeout No description 4 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2205 TMF_TmChannelFull No description 5 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2206 TMF_NotStored No description 6 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2207 TMF_AllDeleted No description 7 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2208 TMF_InvalidData No description 8 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x2209 TMF_NotReady No description 9 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
0x1e00 PUS_InvalidPusVersion No description 0 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x1e01 PUS_InvalidCrc16 No description 1 PUS_IF fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
0x2501 EV_ListenerNotFound No description 1 EVENT_MANAGER_IF fsfw/src/fsfw/events/EventManagerIF.h
0x1000 TIM_UnsupportedTimeFormat No description 0 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1001 TIM_NotEnoughInformationForTargetFormat No description 1 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1002 TIM_LengthMismatch No description 2 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1003 TIM_InvalidTimeFormat No description 3 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1004 TIM_InvalidDayOfYear No description 4 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x1005 TIM_TimeDoesNotFitFormat No description 5 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
0x3701 TSI_BadTimestamp No description 1 TIME_STAMPER_IF fsfw/src/fsfw/timemanager/TimeStampIF.h
0x3001 POS_InPowerTransition No description 1 POWER_SWITCHER fsfw/src/fsfw/power/PowerSwitcher.h
0x3002 POS_SwitchStateMismatch No description 2 POWER_SWITCHER fsfw/src/fsfw/power/PowerSwitcher.h
0x0501 PS_SwitchOn No description 1 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
0x0500 PS_SwitchOff No description 0 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
0x0502 PS_SwitchTimeout No description 2 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
0x0503 PS_FuseOn No description 3 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
0x0504 PS_FuseOff No description 4 POWER_SWITCH_IF fsfw/src/fsfw/power/PowerSwitchIF.h
0x0201 OM_InsertionFailed No description 1 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0202 OM_NotFound No description 2 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0203 OM_ChildInitFailed No description 3 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x0204 OM_InternalErrReporterUninit No description 4 OBJECT_MANAGER_IF fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
0x2e01 HPA_InvalidIdentifierId No description 1 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e02 HPA_InvalidDomainId No description 2 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e03 HPA_InvalidValue No description 3 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
0x2e05 HPA_ReadOnly No description 5 HAS_PARAMETERS_IF fsfw/src/fsfw/parameters/HasParametersIF.h
0x2d01 PAW_UnknownDatatype No description 1 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d02 PAW_DatatypeMissmatch No description 2 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d03 PAW_Readonly No description 3 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d04 PAW_TooBig No description 4 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d05 PAW_SourceNotSet No description 5 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d06 PAW_OutOfBounds No description 6 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d07 PAW_NotSet No description 7 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2d08 PAW_ColumnOrRowsZero No description 8 PARAMETER_WRAPPER fsfw/src/fsfw/parameters/ParameterWrapper.h
0x2401 MT_TooDetailedRequest No description 1 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2402 MT_TooGeneralRequest No description 2 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2403 MT_NoMatch No description 3 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2404 MT_Full No description 4 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x2405 MT_NewNodeCreated No description 5 MATCH_TREE_CLASS fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
0x3f01 DLEE_NoPacketFound No description 1 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleParser.h
0x3f02 DLEE_PossiblePacketLoss No description 2 DLE_ENCODER fsfw/src/fsfw/globalfunctions/DleParser.h
0x2f01 ASC_TooLongForTargetType No description 1 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f02 ASC_InvalidCharacters No description 2 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x2f03 ASC_BufferTooSmall No description 3 ASCII_CONVERTER fsfw/src/fsfw/globalfunctions/AsciiConverter.h
0x1c01 TCD_PacketLost No description 1 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c02 TCD_DestinationNotFound No description 2 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1c03 TCD_ServiceIdAlreadyExists No description 3 PACKET_DISTRIBUTION fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
0x1b00 TCC_NoDestinationFound No description 0 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b01 TCC_InvalidCcsdsVersion No description 1 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b02 TCC_InvalidApid No description 2 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b03 TCC_InvalidPacketType No description 3 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b04 TCC_InvalidSecHeaderField No description 4 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b05 TCC_IncorrectPrimaryHeader No description 5 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b07 TCC_IncompletePacket No description 7 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b08 TCC_InvalidPusVersion No description 8 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b09 TCC_IncorrectChecksum No description 9 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
0x1b0a TCC_IllegalPacketSubtype No description 10 TMTC_DISTRIBUTION fsfw/src/fsfw/tcdistribution/definitions.h
297 0x1b0b 0x4300 TCC_IncorrectSecondaryHeader FILS_GenericFileError No description 11 0 TMTC_DISTRIBUTION FILE_SYSTEM fsfw/src/fsfw/tcdistribution/definitions.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
298 0x1701 0x4301 HHI_ObjectNotHealthy FILS_GenericDirError No description 1 HAS_HEALTH_IF FILE_SYSTEM fsfw/src/fsfw/health/HasHealthIF.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
299 0x1702 0x4302 HHI_InvalidHealthState FILS_FilesystemInactive No description 2 HAS_HEALTH_IF FILE_SYSTEM fsfw/src/fsfw/health/HasHealthIF.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
311 0x0d08 0x4318 SS_NoTargetTable FILS_DirectoryNotEmpty No description 8 24 SUBSYSTEM FILE_SYSTEM fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
312 0x0d09 0x431e SS_SequenceOrTableTooLong FILS_SequencePacketMissingWrite No description 9 30 SUBSYSTEM FILE_SYSTEM fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
313 0x0d0b 0x431f SS_IsFallbackSequence FILS_SequencePacketMissingRead No description 11 31 SUBSYSTEM FILE_SYSTEM fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/filesystem/HasFileSystemIF.h
314 0x0d0c 0x13e0 SS_AccessDenied MH_UnknownCmd No description 12 224 SUBSYSTEM MEMORY_HELPER fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/memory/MemoryHelper.h
315 0x0d0e 0x13e1 SS_TableInUse MH_InvalidAddress No description 14 225 SUBSYSTEM MEMORY_HELPER fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/memory/MemoryHelper.h
316 0x0da1 0x13e2 SS_TargetTableNotReached MH_InvalidSize No description 161 226 SUBSYSTEM MEMORY_HELPER fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/memory/MemoryHelper.h
317 0x0da2 0x13e3 SS_TableCheckFailed MH_StateMismatch No description 162 227 SUBSYSTEM MEMORY_HELPER fsfw/src/fsfw/subsystem/Subsystem.h fsfw/src/fsfw/memory/MemoryHelper.h
0x0b01 SB_ChildNotFound No description 1 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b02 SB_ChildInfoUpdated No description 2 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b03 SB_ChildDoesntHaveModes No description 3 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b04 SB_CouldNotInsertChild No description 4 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x0b05 SB_TableContainsInvalidObjectId No description 5 SUBSYSTEM_BASE fsfw/src/fsfw/subsystem/SubsystemBase.h
0x3e00 HKM_QueueOrDestinationInvalid No description 0 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e01 HKM_WrongHkPacketType No description 1 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e02 HKM_ReportingStatusUnchanged No description 2 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e03 HKM_PeriodicHelperInvalid No description 3 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e04 HKM_PoolobjectNotFound No description 4 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3e05 HKM_DatasetNotFound No description 5 HOUSEKEEPING_MANAGER fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
0x3c00 LPIF_PoolEntryNotFound No description 0 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x3c01 LPIF_PoolEntryTypeConflict No description 1 LOCAL_POOL_OWNER_IF fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
0x4300 FILS_GenericFileError No description 0 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4301 FILS_GenericDirError No description 1 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4302 FILS_FilesystemInactive No description 2 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4303 FILS_GenericRenameError No description 3 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
0x4304 FILS_IsBusy No description 4 FILE_SYSTEM fsfw/src/fsfw/filesystem/HasFileSystemIF.h
318 0x4305 0x0601 FILS_InvalidParameters PP_DoItMyself No description 5 1 FILE_SYSTEM HAS_MEMORY_IF fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
319 0x430a 0x0602 FILS_FileDoesNotExist PP_PointsToVariable No description 10 2 FILE_SYSTEM HAS_MEMORY_IF fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
320 0x430b 0x0603 FILS_FileAlreadyExists PP_PointsToMemory No description 11 3 FILE_SYSTEM HAS_MEMORY_IF fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
329 0x431f 0x06e2 FILS_SequencePacketMissingRead PP_InvalidContent No description 31 226 FILE_SYSTEM HAS_MEMORY_IF fsfw/src/fsfw/filesystem/HasFileSystemIF.h fsfw/src/fsfw/memory/HasMemoryIF.h
330 0x4201 0x06e3 PUS11_InvalidTypeTimeWindow PP_UnalignedAccess No description 1 227 PUS_SERVICE_11 HAS_MEMORY_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/memory/HasMemoryIF.h
331 0x4202 0x06e4 PUS11_InvalidTimeWindow PP_WriteProtected No description 2 228 PUS_SERVICE_11 HAS_MEMORY_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/memory/HasMemoryIF.h
332 0x4203 0x0201 PUS11_TimeshiftingNotPossible OM_InsertionFailed No description 3 1 PUS_SERVICE_11 OBJECT_MANAGER_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
333 0x4204 0x0202 PUS11_InvalidRelativeTime OM_NotFound No description 4 2 PUS_SERVICE_11 OBJECT_MANAGER_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
334 0x4205 0x0203 PUS11_ContainedTcTooSmall OM_ChildInitFailed No description 5 3 PUS_SERVICE_11 OBJECT_MANAGER_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
335 0x4206 0x0204 PUS11_ContainedTcCrcMissmatch OM_InternalErrReporterUninit No description 6 4 PUS_SERVICE_11 OBJECT_MANAGER_IF fsfw/src/fsfw/pus/Service11TelecommandScheduling.h fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
336 0x4100 0x0501 PUS9_ConnBroken PS_SwitchOn No description 0 1 PUS_SERVICE_9 POWER_SWITCH_IF fsfw/src/fsfw/osal/common/TcpTmTcServer.h fsfw/src/fsfw/power/PowerSwitchIF.h
337 0x2a01 0x0500 IEC_NoConfigurationTable PS_SwitchOff No description 1 0 INTERNAL_ERROR_CODES POWER_SWITCH_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/power/PowerSwitchIF.h
338 0x2a02 0x0502 IEC_NoCpuTable PS_SwitchTimeout No description 2 INTERNAL_ERROR_CODES POWER_SWITCH_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/power/PowerSwitchIF.h
339 0x2a03 0x0503 IEC_InvalidWorkspaceAddress PS_FuseOn No description 3 INTERNAL_ERROR_CODES POWER_SWITCH_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/power/PowerSwitchIF.h
340 0x2a04 0x0504 IEC_TooLittleWorkspace PS_FuseOff No description 4 INTERNAL_ERROR_CODES POWER_SWITCH_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/power/PowerSwitchIF.h
341 0x2a05 0x3001 IEC_WorkspaceAllocation POS_InPowerTransition No description 5 1 INTERNAL_ERROR_CODES POWER_SWITCHER fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/power/PowerSwitcher.h
342 0x3002 POS_SwitchStateMismatch 2 POWER_SWITCHER fsfw/src/fsfw/power/PowerSwitcher.h
343 0x1000 TIM_UnsupportedTimeFormat 0 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
344 0x1001 TIM_NotEnoughInformationForTargetFormat 1 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
345 0x1002 TIM_LengthMismatch 2 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
346 0x1003 TIM_InvalidTimeFormat 3 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
347 0x1004 TIM_InvalidDayOfYear 4 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
348 0x1005 TIM_TimeDoesNotFitFormat 5 CCSDS_TIME_HELPER_CLASS fsfw/src/fsfw/timemanager/CCSDSTime.h
349 0x3701 TSI_BadTimestamp 1 TIME_STAMPER_IF fsfw/src/fsfw/timemanager/TimeStampIF.h
350 0x2201 TMF_Busy 1 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
351 0x2202 TMF_LastPacketFound 2 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
352 0x2203 TMF_StopFetch 3 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
353 0x2204 TMF_Timeout 4 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
354 0x2205 TMF_TmChannelFull 5 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
355 0x2206 TMF_NotStored 6 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
356 0x2207 TMF_AllDeleted 7 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
357 0x2208 TMF_InvalidData 8 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
358 0x2209 TMF_NotReady 9 TM_STORE_FRONTEND_IF fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
359 0x2101 TMB_Busy 1 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
360 0x2102 TMB_Full 2 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
361 0x2103 TMB_Empty 3 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
362 0x2104 TMB_NullRequested 4 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
363 0x2105 TMB_TooLarge 5 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
364 0x2106 TMB_NotReady 6 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
365 0x2107 TMB_DumpError 7 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
366 0x2108 TMB_CrcError 8 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
367 0x2109 TMB_Timeout 9 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
368 0x210a TMB_IdlePacketFound 10 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
369 0x210b TMB_TelecommandFound 11 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
370 0x210c TMB_NoPusATm 12 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
371 0x210d TMB_TooSmall 13 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
372 0x210e TMB_BlockNotFound 14 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
373 0x210f TMB_InvalidRequest 15 TM_STORE_BACKEND_IF fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
374 0x0e01 HM_InvalidMode 1 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
375 0x0e02 HM_TransNotAllowed 2 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
376 0x0e03 HM_InTransition 3 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
377 0x0e04 HM_InvalidSubmode 4 HAS_MODES_IF fsfw/src/fsfw/modes/HasModesIF.h
378 0x1601 FMM_MapFull 1 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
379 0x1602 FMM_KeyDoesNotExist 2 FIXED_MULTIMAP fsfw/src/fsfw/container/FixedOrderedMultimap.h
380 0x1801 FF_Full 1 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
381 0x1802 FF_Empty 2 FIFO_CLASS fsfw/src/fsfw/container/FIFOBase.h
382 0x2a06 0x03a0 IEC_InterruptStackTooSmall DHB_InvalidChannel No description 6 160 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
383 0x2a07 0x03b0 IEC_ThreadExitted DHB_AperiodicReply No description 7 176 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
384 0x2a08 0x03b1 IEC_InconsistentMpInformation DHB_IgnoreReplyData No description 8 177 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
388 0x2a0c 0x03d0 IEC_OutOfPackets DHB_NoSwitch No description 12 208 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
389 0x2a0d 0x03e0 IEC_OutOfGlobalObjects DHB_ChildTimeout No description 13 224 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
390 0x2a0e 0x03e1 IEC_OutOfProxies DHB_SwitchFailed No description 14 225 INTERNAL_ERROR_CODES DEVICE_HANDLER_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
391 0x2a0f 0x1201 IEC_InvalidGlobalId AB_NeedSecondStep No description 15 1 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
392 0x2a10 0x1202 IEC_BadStackHook AB_NeedToReconfigure No description 16 2 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
393 0x2a11 0x1203 IEC_BadAttributes AB_ModeFallback No description 17 3 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
394 0x2a12 0x1204 IEC_ImplementationKeyCreateInconsistency AB_ChildNotCommandable No description 18 4 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
395 0x2a13 0x1205 IEC_ImplementationBlockingOperationCancel AB_NeedToChangeHealth No description 19 5 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
396 0x2a14 0x12a1 IEC_MutexObtainFromBadState AB_NotEnoughChildrenInCorrectState No description 20 161 INTERNAL_ERROR_CODES ASSEMBLY_BASE fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/AssemblyBase.h
397 0x2a15 0x27a0 IEC_UnlimitedAndMaximumIs0 DHI_NoCommandData No description 21 160 INTERNAL_ERROR_CODES DEVICE_HANDLER_IF fsfw/src/fsfw/osal/InternalErrorCodes.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
398 0x1401 0x27a1 SE_BufferTooShort DHI_CommandNotSupported No description 1 161 SERIALIZE_IF DEVICE_HANDLER_IF fsfw/src/fsfw/serialize/SerializeIF.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
399 0x1402 0x27a2 SE_StreamTooShort DHI_CommandAlreadySent No description 2 162 SERIALIZE_IF DEVICE_HANDLER_IF fsfw/src/fsfw/serialize/SerializeIF.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
415 0x2ce2 0x27c3 CCS_StartSymbolMissed DHI_DeviceReplyInvalid No description 226 195 CCSDS_HANDLER_IF DEVICE_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
416 0x2ce3 0x27d0 CCS_EndWithoutStart DHI_InvalidCommandParameter No description 227 208 CCSDS_HANDLER_IF DEVICE_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
417 0x2ce4 0x27d1 CCS_TooLarge DHI_InvalidNumberOrLengthOfParameters No description 228 209 CCSDS_HANDLER_IF DEVICE_HANDLER_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
418 0x2ce5 0x3401 CCS_TooShort DC_NoReplyReceived No description 229 1 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
419 0x2ce6 0x3402 CCS_WrongTfVersion DC_ProtocolError No description 230 2 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
420 0x2ce7 0x3403 CCS_WrongSpacecraftId DC_Nullpointer No description 231 3 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
421 0x2ce8 0x3404 CCS_NoValidFrameType DC_InvalidCookieType No description 232 4 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
422 0x2ce9 0x3405 CCS_CrcFailed DC_NotActive No description 233 5 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
423 0x2cea 0x3406 CCS_VcNotFound DC_TooMuchData No description 234 6 CCSDS_HANDLER_IF DEVICE_COMMUNICATION_IF fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
424 0x2501 EV_ListenerNotFound 1 EVENT_MANAGER_IF fsfw/src/fsfw/events/EventManagerIF.h
425 0x1a01 TRC_NotEnoughSensors 1 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
426 0x1a02 TRC_LowestValueOol 2 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
427 0x1a03 TRC_HighestValueOol 3 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
428 0x1a04 TRC_BothValuesOol 4 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
429 0x1a05 TRC_DuplexOol 5 TRIPLE_REDUNDACY_CHECK fsfw/src/fsfw/monitoring/TriplexMonitor.h
430 0x3101 LIM_Unchecked 1 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
431 0x3102 LIM_Invalid 2 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
432 0x3103 LIM_Unselected 3 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
433 0x3104 LIM_BelowLowLimit 4 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
434 0x3105 LIM_AboveHighLimit 5 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
435 0x3106 LIM_UnexpectedValue 6 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
436 0x3107 LIM_OutOfRange 7 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
437 0x31a0 LIM_FirstSample 160 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
438 0x31e0 LIM_InvalidSize 224 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
439 0x31e1 LIM_WrongType 225 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
440 0x31e2 LIM_WrongPid 226 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
441 0x31e3 LIM_WrongLimitId 227 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
442 0x31ee LIM_MonitorNotFound 238 LIMITS_IF fsfw/src/fsfw/monitoring/MonitoringIF.h
443 0x3b01 SPH_SemaphoreTimeout 1 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
444 0x3b02 SPH_SemaphoreNotOwned 2 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
445 0x3b03 SPH_SemaphoreInvalid 3 SEMAPHORE_IF fsfw/src/fsfw/tasks/SemaphoreIF.h
446 0x4500 HSPI_OpeningFileFailed 0 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
447 0x4501 HSPI_FullDuplexTransferFailed 1 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
448 0x4502 HSPI_HalfDuplexTransferFailed 2 HAL_SPI fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
449 0x2ceb 0x4601 CCS_ForwardingFailed HURT_UartReadFailure No description 235 1 CCSDS_HANDLER_IF HAL_UART fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
450 0x2cec 0x4602 CCS_ContentTooLarge HURT_UartReadSizeMissmatch No description 236 2 CCSDS_HANDLER_IF HAL_UART fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
451 0x2ced 0x4603 CCS_ResidualData HURT_UartRxBufferTooSmall No description 237 3 CCSDS_HANDLER_IF HAL_UART fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
462 0x4802 0x4403 HGIO_DriveGpioFailure UXOS_CommandError No description Command execution failed 2 3 HAL_GPIO LINUX_OSAL fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
463 0x4803 0x4404 HGIO_GpioTypeFailure UXOS_NoCommandLoadedOrPending No description 3 4 HAL_GPIO LINUX_OSAL fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
464 0x4804 0x4406 HGIO_GpioInvalidInstance UXOS_PcloseCallError No description 4 6 HAL_GPIO LINUX_OSAL fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h fsfw/src/fsfw_hal/linux/CommandExecutor.h
0x4805 HGIO_GpioDuplicateDetected No description 5 HAL_GPIO fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
0x4806 HGIO_GpioInitFailed No description 6 HAL_GPIO fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
465 0x4807 0x6a00 HGIO_GpioGetValueFailed SDMA_OpOngoing No description 7 0 HAL_GPIO SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h bsp_q7s/fs/SdCardManager.h
466 0x4601 0x6a01 HURT_UartReadFailure SDMA_AlreadyOn No description 1 HAL_UART SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/serial/SerialComIF.h bsp_q7s/fs/SdCardManager.h
467 0x4602 0x6a02 HURT_UartReadSizeMissmatch SDMA_AlreadyMounted No description 2 HAL_UART SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/serial/SerialComIF.h bsp_q7s/fs/SdCardManager.h
472 0x4403 0x6a0d UXOS_CommandError SDMA_UnmountError Command execution failed 3 13 LINUX_OSAL SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/CommandExecutor.h bsp_q7s/fs/SdCardManager.h
473 0x4404 0x6a0e UXOS_NoCommandLoadedOrPending SDMA_SystemCallError 4 14 LINUX_OSAL SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/CommandExecutor.h bsp_q7s/fs/SdCardManager.h
474 0x4406 0x6a0f UXOS_PcloseCallError SDMA_PopenCallError No description 6 15 LINUX_OSAL SD_CARD_MANAGER fsfw/src/fsfw_hal/linux/CommandExecutor.h bsp_q7s/fs/SdCardManager.h
475 0x64a0 FSHLP_SdNotMounted SD card specified with path string not mounted 160 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
476 0x64a1 FSHLP_FileNotExists Specified file does not exist on filesystem 161 FILE_SYSTEM_HELPER bsp_q7s/fs/FilesystemHelper.h
477 0x7000 0x6b00 SCBU_KeyNotFound No description 0 SCRATCH_BUFFER bsp_q7s/memory/scratchApi.h

2
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 239 translations.
* @details
* Generated on: 2022-11-28 18:24:37
* Generated on: 2022-12-01 17:07:27
*/
#include "translateEvents.h"

2
generators/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 148 translations.
* Generated on: 2022-11-28 18:24:37
* Generated on: 2022-12-01 17:07:27
*/
#include "translateObjects.h"

2
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 239 translations.
* @details
* Generated on: 2022-11-28 18:24:37
* Generated on: 2022-12-01 17:07:27
*/
#include "translateEvents.h"

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 148 translations.
* Generated on: 2022-11-28 18:24:37
* Generated on: 2022-12-01 17:07:27
*/
#include "translateObjects.h"

588
mission/controller/AcsController.cpp
View File

@ -5,7 +5,25 @@
#include "mission/devices/torquer.h"
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId), mgmData(this) {}
: ExtendedControllerBase(objectId),
sensorProcessing(&acsParameters),
navigation(&acsParameters),
actuatorCmd(&acsParameters),
guidance(&acsParameters),
safeCtrl(&acsParameters),
detumble(&acsParameters),
ptgCtrl(&acsParameters),
detumbleCounter{0},
mgmDataRaw(this),
mgmDataProcessed(this),
susDataRaw(this),
susDataProcessed(this),
gyrDataRaw(this),
gyrDataProcessed(this),
gpsDataProcessed(this),
mekfData(this),
ctrlValData(this),
actuatorCmdData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK;
@ -25,6 +43,21 @@ void AcsController::performControlOperation() {
return;
}
case InternalState::READY: {
if (mode != MODE_OFF) {
switch (submode) {
case SUBMODE_SAFE:
performSafe();
break;
case SUBMODE_DETUMBLE:
performDetumble();
break;
case SUBMODE_PTG_TARGET:
case SUBMODE_PTG_NADIR:
case SUBMODE_PTG_INERTIAL:
performPointingCtrl();
break;
}
}
break;
}
default:
@ -32,76 +65,569 @@ void AcsController::performControlOperation() {
}
{
// TODO: Calculate actuator output
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// TODO: Insert correct values here
// dipoleSet.setDipoles(500, 500, 500, 150);
}
{
PoolReadGuard pg(&mgmData);
PoolReadGuard pg(&mgmDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyMgmData();
}
}
{
PoolReadGuard pg(&susDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copySusData();
}
}
{
PoolReadGuard pg(&gyrDataRaw);
if (pg.getReadResult() == returnvalue::OK) {
copyGyrData();
}
}
}
void AcsController::performSafe() {
// Concept: SAFE MODE WITH MEKF
// -do the sensor processing, maybe is does make more sense do call this class function in
// another place since we have to do it for every mode regardless of safe or not
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
// Give desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
// IF MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (validMekf == returnvalue::OK) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
} else {
safeCtrl.safeNoMekf(
now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
}
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
double zeroQuat[4] = {0, 0, 0, 0};
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
}
// Detumble check and switch
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE;
detumbleCounter = 0;
triggerEvent(SAFE_RATE_VIOLATION);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0};
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
// }
}
void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
double magMomMtq[3] = {0, 0, 0};
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0;
}
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0};
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);
actuatorCmdData.setValidity(true, false);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
}
void AcsController::performPointingCtrl() {
ACS::SensorValues sensorValues;
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
&mekfData, &validMekf);
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
double rwTrqNs[4] = {0, 0, 0, 0};
ptgCtrl.ptgNullspace(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
actuatorCmd.cmdSpeedToRws(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
rwTrqNs, cmdSpeedRws);
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
for (int i = 0; i < 3; ++i) {
cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
}
int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; ++i) {
cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
}
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
actuatorCmdData.setValidity(true, true);
}
}
// {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
// MGM Raw
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
// MGM Processed
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
// SUS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_VEC, &sus2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_VEC, &sus3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_VEC, &sus4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_VEC, &sus5VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_VEC, &sus6VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_VEC, &sus7VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_VEC, &sus8VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_VEC, &sus9VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_VEC, &sus10VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_VEC, &sus11VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForRegularPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForRegularPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
// MEKF
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
poolManager.subscribeForRegularPeriodicPacket({mekfData.getSid(), false, 5.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
return returnvalue::OK;
}
LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
if (sid == mgmData.getSid()) {
return &mgmData;
switch (sid.ownerSetId) {
case acsctrl::MGM_SENSOR_DATA:
return &mgmDataRaw;
case acsctrl::MGM_PROCESSED_DATA:
return &mgmDataProcessed;
case acsctrl::SUS_SENSOR_DATA:
return &susDataRaw;
case acsctrl::SUS_PROCESSED_DATA:
return &susDataProcessed;
case acsctrl::GYR_SENSOR_DATA:
return &gyrDataRaw;
case acsctrl::GYR_PROCESSED_DATA:
return &gyrDataProcessed;
case acsctrl::GPS_PROCESSED_DATA:
return &gpsDataProcessed;
case acsctrl::MEKF_DATA:
return &mekfData;
case acsctrl::CTRL_VAL_DATA:
return &ctrlValData;
case acsctrl::ACTUATOR_CMD_DATA:
return &actuatorCmdData;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return returnvalue::OK;
if (mode == MODE_OFF) {
if (submode == SUBMODE_NONE) {
return returnvalue::OK;
} else {
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > 6) || (submode < 2)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
}
}
return INVALID_MODE;
}
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
void AcsController::announceMode(bool recursive) {}
void AcsController::copyMgmData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&mgm0Lis3Set);
PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm0Lis3.value, sensorValues.mgm0Lis3Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm0Lis3.setValid(sensorValues.mgm0Lis3Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm1Rm3100Set);
PoolReadGuard pg(&sensorValues.mgm1Rm3100Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm1Rm3100.value, sensorValues.mgm1Rm3100Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm1Rm3100.setValid(sensorValues.mgm1Rm3100Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm2Lis3Set);
PoolReadGuard pg(&sensorValues.mgm2Lis3Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm2Lis3.value, sensorValues.mgm2Lis3Set.fieldStrengths.value,
3 * sizeof(float));
mgmDataRaw.mgm2Lis3.setValid(sensorValues.mgm2Lis3Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&mgm3Rm3100Set);
PoolReadGuard pg(&sensorValues.mgm3Rm3100Set);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
std::memcpy(mgmDataRaw.mgm3Rm3100.value, sensorValues.mgm3Rm3100Set.fieldStrengths.value,
3 + sizeof(float));
mgmDataRaw.mgm3Rm3100.setValid(sensorValues.mgm3Rm3100Set.fieldStrengths.isValid());
}
}
{
PoolReadGuard pg(&imtqMgmSet);
PoolReadGuard pg(&sensorValues.imtqMgmSet);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmData.imtqRaw.value, imtqMgmSet.mtmRawNt.value, 3 * sizeof(float));
mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
std::memcpy(mgmDataRaw.imtqRaw.value, sensorValues.imtqMgmSet.mtmRawNt.value,
3 * sizeof(float));
mgmDataRaw.imtqRaw.setValid(sensorValues.imtqMgmSet.mtmRawNt.isValid());
mgmDataRaw.actuationCalStatus.value = sensorValues.imtqMgmSet.coilActuationStatus.value;
mgmDataRaw.actuationCalStatus.setValid(sensorValues.imtqMgmSet.coilActuationStatus.isValid());
}
}
}
void AcsController::copySusData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.susSets[0]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus0.setValid(sensorValues.susSets[0].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[1]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus1.value, sensorValues.susSets[1].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus1.setValid(sensorValues.susSets[1].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[2]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus2.value, sensorValues.susSets[2].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus2.setValid(sensorValues.susSets[2].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[3]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus3.value, sensorValues.susSets[3].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus3.setValid(sensorValues.susSets[3].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[4]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus4.value, sensorValues.susSets[4].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus4.setValid(sensorValues.susSets[4].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[5]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus5.value, sensorValues.susSets[5].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus5.setValid(sensorValues.susSets[5].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[6]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus6.value, sensorValues.susSets[6].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus6.setValid(sensorValues.susSets[6].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[7]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus7.value, sensorValues.susSets[7].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus7.setValid(sensorValues.susSets[7].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[8]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus8.value, sensorValues.susSets[8].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus8.setValid(sensorValues.susSets[8].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[9]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus9.value, sensorValues.susSets[9].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus9.setValid(sensorValues.susSets[9].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[10]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus10.value, sensorValues.susSets[10].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus10.setValid(sensorValues.susSets[10].channels.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.susSets[11]);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataRaw.sus11.value, sensorValues.susSets[11].channels.value,
6 * sizeof(uint16_t));
susDataRaw.sus11.setValid(sensorValues.susSets[11].channels.isValid());
}
}
}
void AcsController::copyGyrData() {
ACS::SensorValues sensorValues;
{
PoolReadGuard pg(&sensorValues.gyr0AdisSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr0Adis.value[0] = sensorValues.gyr0AdisSet.angVelocX.value;
gyrDataRaw.gyr0Adis.value[1] = sensorValues.gyr0AdisSet.angVelocY.value;
gyrDataRaw.gyr0Adis.value[2] = sensorValues.gyr0AdisSet.angVelocZ.value;
gyrDataRaw.gyr0Adis.setValid(sensorValues.gyr0AdisSet.angVelocX.isValid() &&
sensorValues.gyr0AdisSet.angVelocY.isValid() &&
sensorValues.gyr0AdisSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr1L3gSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr1L3.value[0] = sensorValues.gyr1L3gSet.angVelocX.value;
gyrDataRaw.gyr1L3.value[1] = sensorValues.gyr1L3gSet.angVelocY.value;
gyrDataRaw.gyr1L3.value[2] = sensorValues.gyr1L3gSet.angVelocZ.value;
gyrDataRaw.gyr1L3.setValid(sensorValues.gyr1L3gSet.angVelocX.isValid() &&
sensorValues.gyr1L3gSet.angVelocY.isValid() &&
sensorValues.gyr1L3gSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr2AdisSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr2Adis.value[0] = sensorValues.gyr2AdisSet.angVelocX.value;
gyrDataRaw.gyr2Adis.value[1] = sensorValues.gyr2AdisSet.angVelocY.value;
gyrDataRaw.gyr2Adis.value[2] = sensorValues.gyr2AdisSet.angVelocZ.value;
gyrDataRaw.gyr2Adis.setValid(sensorValues.gyr2AdisSet.angVelocX.isValid() &&
sensorValues.gyr2AdisSet.angVelocY.isValid() &&
sensorValues.gyr2AdisSet.angVelocZ.isValid());
}
}
{
PoolReadGuard pg(&sensorValues.gyr3L3gSet);
if (pg.getReadResult() == returnvalue::OK) {
gyrDataRaw.gyr3L3.value[0] = sensorValues.gyr3L3gSet.angVelocX.value;
gyrDataRaw.gyr3L3.value[1] = sensorValues.gyr3L3gSet.angVelocY.value;
gyrDataRaw.gyr3L3.value[2] = sensorValues.gyr3L3gSet.angVelocZ.value;
gyrDataRaw.gyr3L3.setValid(sensorValues.gyr3L3gSet.angVelocX.isValid() &&
sensorValues.gyr3L3gSet.angVelocY.isValid() &&
sensorValues.gyr3L3gSet.angVelocZ.isValid());
}
}
}

159
mission/controller/AcsController.h
View File

@ -2,7 +2,15 @@
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "acs/control/SafeCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
@ -16,10 +24,38 @@ class AcsController : public ExtendedControllerBase {
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_TARGET = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_INERTIAL = 6;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
protected:
void performSafe();
void performDetumble();
void performPointingCtrl();
private:
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;
ActuatorCmd actuatorCmd;
Guidance guidance;
SafeCtrl safeCtrl;
Detumble detumble;
PtgCtrl ptgCtrl;
uint8_t detumbleCounter;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -30,45 +66,100 @@ class AcsController : public ExtendedControllerBase {
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
// MGMs
acsctrl::MgmDataRaw mgmData;
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
/* ACS Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;
PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
void copyMgmData();
// Sun Sensors
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
acsctrl::MgmDataProcessed mgmDataProcessed;
PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
PoolEntry<double> magIgrf = PoolEntry<double>(3);
// SUSs
acsctrl::SusDataRaw susDataRaw;
PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
void copySusData();
acsctrl::SusDataProcessed susDataProcessed;
PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
PoolEntry<double> susVecTot = PoolEntry<double>(3);
PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
PoolEntry<double> sunIjk = PoolEntry<double>(3);
// GYRs
acsctrl::GyrDataRaw gyrDataRaw;
PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
void copyGyrData();
acsctrl::GyrDataProcessed gyrDataProcessed;
PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
// GPS
acsctrl::GpsDataProcessed gpsDataProcessed;
PoolEntry<double> gcLatitude = PoolEntry<double>();
PoolEntry<double> gdLongitude = PoolEntry<double>();
// MEKF
acsctrl::MekfData mekfData;
PoolEntry<double> quatMekf = PoolEntry<double>(4);
PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>();
// Actuator CMD
acsctrl::ActuatorCmdData actuatorCmdData;
PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);

2
mission/controller/CMakeLists.txt
View File

@ -2,3 +2,5 @@ if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
AcsController.cpp)
endif()
add_subdirectory(acs)

544
mission/controller/acs/AcsParameters.cpp Normal file
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@ -0,0 +1,544 @@
#include "AcsParameters.h"
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <stddef.h>
AcsParameters::AcsParameters(){}; //(uint8_t parameterModuleId) :
// parameterModuleId(parameterModuleId) {}
AcsParameters::~AcsParameters() {}
/*ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
if (domainId == parameterModuleId) {
switch (parameterId >> 8) {
case 0x0: // direct members
switch (parameterId & 0xFF) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x1: // OnBoardParams
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(onBoardParams.sampleTime);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x2: // InertiaEIVE
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(inertiaEIVE.inertiaMatrix);
break;
case 0x1:
parameterWrapper->set(inertiaEIVE.inertiaMatrixInverse);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x3: // MgmHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
break;
case 0x6:
parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
break;
case 0x7:
parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
break;
case 0x8:
parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
break;
case 0x9:
parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
break;
case 0xA:
parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
break;
case 0xB:
parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
break;
case 0xC:
parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
break;
case 0xD:
parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
break;
case 0xE:
parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case 0x4: // SusHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
break;
case 0x6:
parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
break;
case 0x7:
parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
break;
case 0x8:
parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
break;
case 0x9:
parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
break;
case 0xA:
parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
break;
case 0xB:
parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
break;
case 0xC:
parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
break;
case 0xD:
parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
break;
case 0xE:
parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
break;
case 0xF:
parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
break;
case 0x10:
parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
break;
case 0x11:
parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
break;
case 0x12:
parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
break;
case 0x13:
parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
break;
case 0x14:
parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
break;
case 0x15:
parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
break;
case 0x16:
parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
break;
case 0x17:
parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
break;
case 0x18:
parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
break;
case 0x19:
parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
break;
case 0x1A:
parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
break;
case 0x1B:
parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
break;
case 0x1C:
parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
break;
case 0x1D:
parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
break;
case 0x1E:
parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
break;
case 0x1F:
parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
break;
case 0x20:
parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
break;
case 0x21:
parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
break;
case 0x22:
parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
break;
case 0x23:
parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
break;
case 0x24:
parameterWrapper->set(susHandlingParameters.filterAlpha);
break;
case 0x25:
parameterWrapper->set(susHandlingParameters.sunThresh);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x5): // GyrHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(gyrHandlingParameters.gyrFusionWeight);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x6): // RwHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(rwHandlingParameters.rw0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(rwHandlingParameters.rw1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(rwHandlingParameters.rw2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(rwHandlingParameters.rw3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(rwHandlingParameters.inertiaWheel);
break;
case 0x5:
parameterWrapper->set(rwHandlingParameters.maxTrq);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x7): // RwMatrices
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(rwMatrices.alignmentMatrix);
break;
case 0x1:
parameterWrapper->set(rwMatrices.pseudoInverse);
break;
case 0x2:
parameterWrapper->set(rwMatrices.without0);
break;
case 0x3:
parameterWrapper->set(rwMatrices.without1);
break;
case 0x4:
parameterWrapper->set(rwMatrices.without2);
break;
case 0x5:
parameterWrapper->set(rwMatrices.without3);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x8): // SafeModeControllerParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
break;
case 0x1:
parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
break;
case 0x2:
parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf);
break;
case 0x3:
parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
break;
case 0x4:
parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
break;
case 0x5:
parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
break;
case 0x6:
parameterWrapper->set(safeModeControllerParameters.satRateRef);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x9): // DetumbleCtrlParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(detumbleCtrlParameters.gainD);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xA): // PointingModeControllerParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(targetModeControllerParameters.updtFlag);
break;
case 0x1:
parameterWrapper->set(targetModeControllerParameters.A_rw);
break;
case 0x2:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0x3:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0x4:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x7:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.zeta);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.zetaLow);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.om);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.omLow);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.omMax);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.qiMin);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.omegaEarth);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // StrParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(strParameters.exclusionAngle);
break;
case 0x1:
parameterWrapper->set(strParameters.boresightAxis);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // GpsParameters
switch (parameterId & 0xFF) {
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xD): // GroundStationParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(groundStationParameters.latitudeGs);
break;
case 0x1:
parameterWrapper->set(groundStationParameters.longitudeGs);
break;
case 0x2:
parameterWrapper->set(groundStationParameters.altitudeGs);
break;
case 0x3:
parameterWrapper->set(groundStationParameters.earthRadiusEquat);
break;
case 0x4:
parameterWrapper->set(groundStationParameters.earthRadiusPolar);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xE): // SunModelParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(sunModelParameters.useSunModel);
break;
case 0x1:
parameterWrapper->set(sunModelParameters.domega);
break;
case 0x2:
parameterWrapper->set(sunModelParameters.omega_0);
break;
case 0x3:
parameterWrapper->set(sunModelParameters.m_0);
break;
case 0x4:
parameterWrapper->set(sunModelParameters.dm);
break;
case 0x5:
parameterWrapper->set(sunModelParameters.e);
break;
case 0x6:
parameterWrapper->set(sunModelParameters.e1);
break;
case 0x7:
parameterWrapper->set(sunModelParameters.p1);
break;
case 0x8:
parameterWrapper->set(sunModelParameters.p2);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xF): // KalmanFilterParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(kalmanFilterParameters.activateKalmanFilter);
break;
case 0x1:
parameterWrapper->set(kalmanFilterParameters.requestResetFlag);
break;
case 0x2:
parameterWrapper->set(
kalmanFilterParameters.maxToleratedTimeBetweenKalmanFilterExecutionSteps);
break;
case 0x3:
parameterWrapper->set(kalmanFilterParameters.processNoiseOmega);
break;
case 0x4:
parameterWrapper->set(kalmanFilterParameters.processNoiseQuaternion);
break;
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
break;
case 0x6:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
break;
case 0x7:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
break;
case 0x8:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
break;
case 0x9:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
break;
case 0xA:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x10): // MagnetorquesParameter
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
break;
case 0x4:
parameterWrapper->set(magnetorquesParameter.inverseAlignment);
break;
case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0x11): // DetumbleParameter
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(detumbleParameter.detumblecounter);
break;
case 0x1:
parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
break;
case 0x2:
parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
default:
return INVALID_IDENTIFIER_ID;
}
return returnvalue::OK;
} else {
return INVALID_DOMAIN_ID;
}
}*/

905
mission/controller/acs/AcsParameters.h Normal file
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@ -0,0 +1,905 @@
/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef ACSPARAMETERS_H_
#define ACSPARAMETERS_H_
#include <fsfw/parameters/HasParametersIF.h>
#include <cmath>
typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ {
public:
AcsParameters();
virtual ~AcsParameters();
/*
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
*/
struct OnBoardParams {
double sampleTime = 0.1; // [s]
} onBoardParams;
struct InertiaEIVE {
double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
double inertiaMatrixInverse[3][3];
} inertiaEIVE;
struct MgmHandlingParameters {
float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
{9.352825e-3, 1031.965e-3, -80.02734e-3},
{-127.1979e-3, -80.02734e-3, 934.8899e-3}};
float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
{-4.146410e-2, 109.3310e-2, -5.246314e-2},
{-18.37963e-2, -5.246314e-2, 105.7300e-2}};
float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
{7.095763e-2, 99.65167e-2, -6.958760e-2},
{15.67482e-2, -6.958760e-2, 94.50124e-2}};
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
} mgmHandlingParameters;
struct SusHandlingParameters {
float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM07
float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM06
float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM13
float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM14
float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM05
float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM02
float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM10
float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM01
float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM03
float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM11
float sus10orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM09
float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM08
float sus0coeffAlpha[9][10] = {
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-0.000124096561459262, 0.00040790566176981},
{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
1.63114413539632e-05, -2.0187452317724e-05},
{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-0.000249094601806692, 0.000231466668650876},
{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-9.78534772816957e-06, -4.72083745991256e-05},
{0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
0.00010150571088124, -0.000367705461590854},
{3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
6.97244631313601e-05, 2.50519145070895e-05},
{-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-1.78466217018177e-05, -0.00058976234038192},
{1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-2.73407888222758e-05, 5.45131881032866e-06},
{43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-0.000889196131314391, -0.000509766491897672}};
float sus0coeffBeta[9][10] = {
{1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-5.52178824394723e-06, 5.73935295303589e-05},
{3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-7.58501977656551e-05, -8.79809730730992e-05},
{14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-0.00020861690864945},
{1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-6.00508568552101e-05, 0.000101583822589461},
{-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
0.000316835483508523, 0.000151442890664899},
{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-9.83662017231755e-05, 1.87078667116619e-05},
{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-0.000285438191474895, -5.71327627917386e-05},
{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-9.77555098179959e-05, 2.09624089449761e-05},
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
0.000141998709314758, 0.000101051304611037}};
float sus1coeffAlpha[9][10] = {
{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
-0.000178087038629721, 4.09208968678946e-05},
{2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385,
0.0117765927439368, -0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956,
-9.10792250542345e-06, -2.03870119873411e-05},
{26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656,
0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331,
-0.00063621309529853, -0.00158363678978767},
{-0.221893380318465, 1.29919955307083, 0.21872487901019, 0.0049448219667127,
0.00291224091529189, 0.00654651987282984, -9.86842469311185e-05, 8.20057454706638e-05,
6.42331081725944e-05, 7.11656918299053e-05},
{1.40178843964621, 1.1733111455249, 0.287485528779234, -0.000793970428759834,
0.000170529273905818, -0.00268807864923086, 9.09553964483881e-05, -0.000271892733575409,
8.52016306311741e-05, -0.000291797625433646},
{0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958,
-0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05,
2.84958344955681e-05, 0.000128583400693359},
{6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284,
-0.0158258335207969, 0.0328249756354635, 0.00027113042931131, -0.000133980867173428,
-0.000357964552318811, 0.000224235061786191},
{2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401,
-0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05,
3.28466749016414e-05, -6.63837547601294e-06},
{42.615758859473, 2.46617281707273, -5.742515881283, -0.131942799763164, 0.20250702826603,
0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977,
-0.00058814458116749}};
float sus1coeffBeta[9][10] = {
{-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722,
-0.04872758086642, -0.0114263851027856, 0.000141061196404012, -0.000675469545483099,
-0.000138249928781575, -0.000138871036200597},
{10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535,
0.00151674939001532, -0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05,
-4.15760162347772e-05, -7.60797902457032e-05},
{-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328,
0.00379001947505376, -0.165444163648109, 0.000516545385538741, 1.56053219154647e-05,
-5.58651971370719e-05, 0.00173185063955313},
{12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331,
-0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05,
-5.67352645830913e-05, 0.000232270832022029},
{4.4338108906594, -0.305276965994378, 1.17293558142526, 0.000152618994429577,
0.00134432642920902, -0.00104036813342885, 0.000334476082056995, 6.74826804343671e-05,
0.000275311897725414, 7.58157740577916e-05},
{3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268,
0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05,
-2.61224817848938e-05, 6.00381132540332e-05},
{29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232,
-0.0474780142430845, 0.0486755575785462, 0.000126295091963757, 0.000526632230895258,
-0.000259305985126003, 0.000412751148048724},
{2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753,
-0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271,
-8.47348746872376e-05, -1.92509604512729e-06},
{-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815,
0.0887545371234514, -0.193862330062381, 0.000216532998121618, -0.00207707610520973,
0.000552928905346826, 0.00190182163597828}};
float sus2coeffAlpha[9][10] = {
{6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
9.74494676304114e-05, 0.000334122888261002},
{0.954398509323963, 1.10996214782069, 0.313314231563221, -0.00367553051112208,
0.0110290193380194, 0.000240079475656232, -6.93444423181303e-05, 0.000107433381295167,
1.30750132315838e-05, -2.43580795300515e-05},
{-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258,
0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709,
-0.000586102213707195, 0.000658133691098817},
{1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053,
0.00202677073171519, 0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05,
3.93641210098335e-05, 4.06398431916703e-05},
{3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784,
-0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589,
0.000137876961532787, -0.000326798596746712},
{6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201,
0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06,
7.25318569569788e-06, -2.5930447720704e-05},
{191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846,
-0.344226468125615, 0.126267158197535, -0.00186612281541009, 0.00304415728817747,
-0.00304958575196089, 0.000457236034569107},
{5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849,
-0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05,
5.81988007269583e-05, 1.3723604109425e-05},
{98.0250669452855, -2.18500123986039, -6.68238707939385, 0.000754807832106659,
0.256133336978808, 0.110826583415768, 0.000457663127670018, -0.00197655629847616,
-0.00254305206375073, -0.000466731538082995}};
float sus2coeffBeta[9][10] = {
{41.1102358678699, 2.3034699186519, 2.74551448799899, 0.061701310929235, 0.0317074142089495,
0.0308171492962288, 0.00049453042200054, 0.000519222896270701, 2.85420168881716e-05,
0.000259197384126413},
{4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156,
0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05,
-5.49439160235527e-05, -8.30708110469922e-05},
{64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773,
-0.077990648565002, 0.0613989204238974, 0.00055512113297293, -0.000347045533958329,
0.00104059576098392, -0.000348638726253297},
{3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723,
-0.0067958260462381, 0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05,
-5.55828531601728e-05, 0.000109833374761172},
{0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939,
0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678,
0.000292373398965513, 0.000183599033441813},
{2.84967971406268, -0.21374251183113, 1.09938586447269, 2.34894704600407e-05,
0.00588345375399262, 0.00296966835738407, 8.42707308834155e-06, 2.81870099202641e-06,
-3.56732787246631e-05, -7.04534663356379e-05},
{-7.59892007483895, 0.358662160515702, 0.805137646978357, 0.00222144376998348,
0.0464438387809707, 0.00847551828841782, 3.24805702347551e-05, 5.45500807838332e-05,
0.000941378089367713, 0.000353137737023192},
{-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975,
0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05,
-7.47076172176468e-05, -1.94516917836346e-05},
{-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197,
-0.0380997421813177, -0.0581898335691109, 0.00111464935006159, 0.000559313074537689,
0.000168067749764069, 0.000563224178849256}};
float sus3coeffAlpha[9][10] = {
{-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986,
-0.242523652239734, -0.202086838965846, -0.00138648793335223, -0.00225430176012882,
-0.00198887215340364, -0.00160678535160774},
{6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017,
0.00894059238779664, -0.000436952529644, 0.000138070523903458, 9.22759645920339e-05,
-9.4312261303588e-06, -1.76647897892869e-05},
{-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327,
0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969,
-0.000436055839773919, -9.5869891049503e-05},
{-4.9880829382985, 1.33627775121504, -0.330382157073243, 0.00306744056311184,
0.00376353074674973, -0.0107453978169225, -0.00010680477021693, 5.17225535432745e-05,
7.4423443938376e-05, -0.000107927900087035},
{0.952867982900728, 1.14513280899596, 0.307744203675505, 0.000404669974219378,
-0.000737988606997615, 0.00120218232577844, 0.000191147653645603, -0.000275058867995882,
0.000137187356620739, -0.000320202731145004},
{8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295,
-0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05,
7.80079707003333e-05, -8.95904360920744e-05},
{-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278,
0.130143669167547, 0.0284326533865768, 0.00149831261351137, -0.0011583692969717,
0.0010560778729661, 0.000635404380970666},
{3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041,
-0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05,
-3.54608413548779e-05, 8.54042677832451e-06},
{78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499,
0.146629920899062, 0.110698519952472, 6.64041537651749e-05, -0.00120174584530713,
-0.00133177694921411, -0.000796422644338886}};
float sus3coeffBeta[9][10] = {
{-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957,
-0.11257100034746, 0.102120576206517, -0.000796645106694696, -0.00192211266325167,
-4.99981232866237e-05, 0.00104036677004523},
{-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119,
0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05,
-6.54571602919161e-05, -0.000104146832644606},
{24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466,
-0.0526971951753399, -0.0477053831942802, 0.000613806533422364, -0.000631628059238499,
0.00026217621127941, 0.000555307997961608},
{0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142,
-0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05,
-7.1643235604579e-06, 0.000147876621100347},
{-3.05400297018165, -0.316256447664344, 1.14841722699638, 0.000671621084688467,
-0.000906765726598906, 0.000687041032077189, 0.000323419818039841, 0.000128019308781935,
0.000286018723737538, 0.000192248693306256},
{-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05,
0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06,
-0.00014623717850039, 8.12219846932013e-06},
{110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034,
-0.142611297893517, -0.0141810186612052, -0.00275127095595919, 0.00160686698368569,
-0.000872029428758877, -0.000410522437887563},
{-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852,
0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05,
-5.87922606348196e-05, 2.56146268588382e-05},
{44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562,
0.108087933176612, -0.116711715153385, -0.00194260120960441, -0.0015752762498594,
-0.000331129410732722, 0.00125896996438418}};
float sus4coeffAlpha[9][10] = {
{-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283,
-0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497,
-9.79031907635314e-05, -1.49299384451257e-05},
{8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676,
0.00879426079919981, -0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05,
-3.56478452552367e-05, -1.65680920554434e-05},
{16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303,
0.0183175817756131, -0.008545409848878, 0.000422696533006382, -0.000268245978898508,
-0.000663188021815416, -7.51144017137827e-05},
{0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128,
0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05,
5.03074365340535e-05, 8.40279146176271e-05},
{2.37491588500165, 1.05997969088519, 0.309540461340971, -0.000405047711742513,
0.000462224730316111, -0.00201887171945793, 0.000260159805167265, -0.000282867209803598,
0.000201613303652666, -0.000277796442847579},
{6.36749007598708, 1.31659760017973, -0.122724934153231, -0.00328808937096891,
-0.00577347207798776, 0.00403172074457999, -7.45676459772001e-05, 1.79838644222274e-05,
0.000104552066440564, -2.78115121929346e-05},
{-47.9667098848496, 3.97703197139796, -1.96403894754299, -0.0577989657406978,
0.0634225576208007, -0.0346023445055141, 0.00045886475369098, -0.000326132951996844,
0.000716490441845967, -0.000136132038635483},
{6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045,
-0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187,
-3.3503088289589e-05, -1.03874407813931e-05},
{102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996,
0.216574192561683, 0.0750031215784663, -0.000147358932612646, -0.0023710703422108,
-0.00143310719642393, -0.000431914403446768}};
float sus4coeffBeta[9][10] = {
{-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659,
-0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431,
-0.00030514398458781, -0.000211986731019738},
{9.07644247897601, 0.207457289788099, 1.26735366597312, 0.00768477352180427,
0.00429230749575816, -0.00514802326062087, 7.56149591998578e-05, 8.42794730840662e-05,
-3.62215715492783e-05, -5.24384190165239e-05},
{-33.5225408043693, -3.11167857248829, 1.91760591695775, -0.0963752386435729,
0.00026620241534153, -0.0256680391021823, -0.00102188712837393, 2.63753563968978e-05,
0.000113172463974702, 0.000271939918507175},
{19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458,
-0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05,
-1.22808643520768e-05, 0.000440555709696048},
{2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271,
0.00148059212230411, 0.000557885068990542, 0.000288633931072557, 0.000172775380291659,
0.000269738457990237, 0.000254577019084984},
{2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743,
0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05,
-0.000156735218010879, 3.81458400945988e-05},
{27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388,
-0.0341141456915131, 0.0281959785297513, -0.000252996164135396, 0.000163365679366542,
-0.000380129463154642, 0.000159350154429114},
{-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817,
-0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05,
-6.07188867796123e-05, 7.72199861279611e-06},
{-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647,
-0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745,
0.000698140692952438, 0.00123017528239406}};
float sus5coeffAlpha[9][10] = {
{-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049,
-0.0309683799946315, -0.0562201123081437, 0.000522607299552916, -0.000375386573815007,
-0.000183899715035788, -0.000600349486293698},
{4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035,
0.0108410181586673, -0.000272215427359511, 0.000124164068046579, 0.000125586897851351,
-1.24082224214974e-05, -1.63339067540159e-05},
{63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374,
-0.0652454854214506, -0.03906716801285, 0.00166924078925478, -0.000749939315526625,
0.000320696101132374, 0.000499934751180042},
{-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845,
0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05,
8.6123353128647e-05, 2.85447259858337e-05},
{0.164792977301912, 1.17541977248641, 0.348838798760518, -0.000180865118417534,
0.000331789515553421, -0.000734333865631793, 9.76677859410759e-05, -0.000324347075049525,
8.66683396011167e-05, -0.000385839566009832},
{-0.228934187493575, 1.30552820143752, 0.306779576899158, -0.00508763741184706,
-0.00318524263093038, -0.00878095392529144, -6.59040013073836e-05, 8.69122529321691e-05,
5.73853071731283e-05, 8.56628414466758e-05},
{22.6047744510684, -0.591739857860868, 0.566728856847393, 0.0498124268150265,
-0.0214126910277926, 0.00538091942017912, -0.000391517685229849, 0.000554321668236216,
0.000191004410219065, 0.000102775124022018},
{4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749,
-0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06,
-2.78503202185463e-05, 3.99983788680736e-06},
{-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189,
-0.0514805639475938, 0.0503660452068572, 0.00072776817295273, 0.00120288537038655,
-0.000301602375634166, -0.000477098479809266}};
float sus5coeffBeta[9][10] = {
{16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669,
0.0426379914736747, 0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05,
0.000645497238623369, -0.000234155227840799},
{9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363,
0.00581086655972212, -0.00365006277801141, 0.000180048140973223, 0.000102002650672644,
-4.10833110241736e-05, -8.7810396165556e-05},
{-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292,
0.0288441527062856, -0.00322823115861497, -0.00148509910480755, 0.000284265179004289,
-0.000175299737313045, -7.04175618676909e-05},
{3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265,
-0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05,
-8.33769024439277e-05, 6.90991113575066e-05},
{0.820199776906695, -0.355683467192776, 1.17142130858009, -0.000160174871610729,
4.09723480153701e-05, 0.000209103751629257, 0.000390331989170637, 6.45642836249667e-05,
0.000318092703362044, 0.000107158633760141},
{5.52084497768914, -0.227775345312466, 0.845897282556327, 0.00157426476122436,
0.00657189797805861, 0.0103797665963117, 2.51479848048895e-05, -4.78371400399983e-05,
-5.20221896473413e-05, -0.000143840492906166},
{-33.4875689683454, 0.937557276329106, -1.02741065470967, -0.0140023273976314,
0.0401908729477037, -0.0512457211360142, 7.05537967426573e-05, -0.00027521752411122,
0.000407657552700476, -0.000458411000693613},
{0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805,
-0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05,
-7.89362487264572e-05, -1.0951496495443e-05},
{-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539,
-0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
-0.000169538153750085, -0.000336529204350355}};
float sus6coeffAlpha[9][10] = {
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
0.00091428505258307, 0.000259857066722932},
{1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-1.06065583714065e-05, -1.43899892666699e-05},
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-4.88501228194031e-06, -0.000434861113274231},
{-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
6.09619017310129e-05, 4.23908862836885e-05},
{-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
0.000150795563555828, -0.000279246491927943},
{7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
9.13233708460098e-05, -0.000206717750924323},
{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-0.000532190902882765, 9.36018171121253e-05},
{-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
1.02609175615251e-05, -9.64717658954667e-06},
{-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
0.000868163357631254, 0.00120099606910313}};
float sus6coeffBeta[9][10] = {
{12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
0.000821479971871302, -4.5330528329465e-05},
{1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-4.04514487800062e-05, -7.6296149087237e-05},
{5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
0.0011723869613426, 0.000122882034141316},
{2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-5.87601932564404e-05, -3.92033314627704e-05},
{2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
0.000259925974231328, 0.000222437797823852},
{1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-4.33518182614169e-05, 4.66993119419691e-05},
{-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
0.000401546410974577, -0.000147563886502726},
{1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-5.3309466243918e-05, 6.20289310356821e-06},
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-0.000186887396585446, 0.00119710704771344}};
float sus7coeffAlpha[9][10] = {
{-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
-0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
-0.00119021101127241, -0.000460110780350978},
{1.60822506792345, 1.12993931449931, 0.300781032865641, -0.00405149856360946,
0.0116663280665617, -0.000746071920075153, -8.36092173253351e-05, 0.000126762041147563,
-1.57820750462019e-05, -2.13840141586661e-05},
{-151.403952985468, -5.77049222793992, 9.71132757422642, -0.113259116970462,
0.284142453949027, -0.198625061659164, -0.000836450164210354, 0.00174062771509636,
-0.00323746390757859, 0.00124721932086258},
{3.47391964888809, 1.28788318973591, 0.358380140281919, 0.0033863520864927,
0.00154601909793475, 0.0103457296050314, -9.56426572270873e-05, 5.48838958555808e-05,
2.97537427220847e-05, 0.000104735911514185},
{3.32650947866065, 1.16701012685798, 0.293514063672376, -0.00065850791542434,
-8.61746510464303e-05, -0.00212038990772211, 0.00010377123197, -0.000262818127593837,
0.000103360882478383, -0.000296739688930329},
{-0.440176043435378, 1.18923278867097, 0.519516382652818, -0.00138846714677511,
0.00266491699926247, -0.014254675949624, -4.20279929822439e-05, -5.49260281515447e-05,
-1.00328708454487e-05, 0.000138142092498215},
{9.54962966738358, 1.83809145920811, 1.82162819067959, -0.0116786627338505,
-0.00496037444422313, 0.0590883547819332, 7.48465315787857e-05, 0.000221693951602584,
7.96466345174136e-06, 0.000638822537725177},
{7.04862901290925, 0.876813777672465, 0.16368093989381, 0.00928717461441627,
-0.00276538956293246, 0.00117995419940653, -0.000141511492474493, -6.09796031786385e-06,
-2.62114930414747e-05, -2.88713611443788e-06},
{135.349147631811, -7.21933296299596, -6.02379024934871, 0.19557354282067,
0.207680233512614, 0.12880101618361, -0.00169832076532024, -0.00192216719797732,
-0.00188763612041332, -0.00103101801961442}};
float sus7coeffBeta[9][10] = {
{-12.7115487367622, -1.08890790360556, 0.0579616268854079, -0.0212303293514951,
-0.0395948453851818, -0.0275564242614342, -0.000228652851842222, -0.000148106159109458,
-0.000555136649469199, -0.000198260004582737},
{-0.988147625946871, -0.759018567468546, 1.20998292002818, -0.0241231836977845,
-0.000572110443300516, -0.00294835038249426, -0.00026533039022186, 6.82250069765274e-06,
7.21038415209318e-06, -6.54881435118179e-05},
{98.0979345921564, 4.27381413621355, -4.39956005193548, 0.0709109587666745,
-0.172774236139236, 0.107243391488741, 0.000421832640471043, -0.00140450884710288,
0.00158019019392239, -0.00078512547169536},
{4.10892685652543, -0.229301778557857, 1.33380992987117, -0.000250095848720304,
-0.00555205065514645, 0.00355052914398176, 1.62727119770752e-05, -1.26026527654764e-05,
-3.25505031810898e-05, 5.79970895921158e-06},
{3.09432502337258, -0.300556003790433, 1.17085811008124, 0.00128679594824324,
0.00148229981422985, 9.15267474159147e-05, 0.000300497843413856, 6.31378865575566e-05,
0.000258447032558814, 9.79142983264352e-05},
{8.92336134924575, -0.197306981784312, 0.659908505354084, 0.00175572239373996,
0.006801023678097, 0.0189775987436792, 9.2187857727721e-06, -4.8706332690626e-05,
-6.887009887486e-05, -0.000266455617735054},
{-52.0734887320227, 2.64822385560272, -1.72387600304694, -0.0383944891609251,
0.110873671161269, -0.0475247245070445, 0.000194652401328063, -0.000697307928990137,
0.00124021816001, -0.000194213899980878},
{2.08203985879155, -0.127503525368396, 1.17628056094647, 0.00283288065938444,
0.00394668214608305, 0.00314868636161131, -2.99504350569853e-05, -7.11070816314279e-05,
-6.30148122529749e-05, 2.28114298989664e-05},
{191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644,
0.331529493933124, 0.149867703984027, -0.00222279201444128, -0.00284724570619954,
-0.00298774060233964, -0.000988903783752156}};
float sus8coeffAlpha[9][10] = {
{5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431,
-0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058,
0.000198938007250408, 0.000102026690279006},
{8.8976133108173, 1.89502416095352, 0.268670471819199, 0.0217013413241972,
0.00973925295182384, -0.00116357269193765, 0.000185865842232419, 0.000103311614912702,
-2.46539447920969e-05, -2.06292928734686e-05},
{-45.4550803910752, 1.27220123406993, 5.21483855848504, 0.0315791081623634,
0.0725172355124129, -0.13947591535243, 0.000412577580637848, 0.000434545096994917,
-0.000840043932292312, 0.00126857487044307},
{1.81302768546433, 1.20563501267535, 0.344815267182167, 0.00546879453241056,
-0.00115382996865884, 0.010597876132341, -7.75885604486581e-05, 8.99568815949154e-05,
-2.98129544974679e-06, 0.000108913239345604},
{2.19111439539173, 1.06951675598148, 0.283707798607213, 0.00016478588207518,
0.000196086067268121, -0.00214980231173703, 0.000237820475654357, -0.000256402967908595,
0.000165966620658577, -0.000268394081675921},
{15.0858674915897, 1.27922724811168, -1.0803137812576, -0.00184009775302466,
-0.00458792284209219, 0.0359393555418547, -6.05121024079603e-05, -1.2288384024143e-05,
8.55484605384438e-05, -0.000379241348638065},
{-14.9594190080906, 1.79473182195746, -1.00830704063572, 0.000890685410857856,
0.0408932029176081, -0.0165460857151619, -0.000170544299916973, -0.000370901607010145,
0.000324089709129097, -9.33010240878062e-05},
{0.867614491733251, 1.38248194737027, 0.233408537422123, -0.00772942878114575,
-0.00783126068079782, -0.000413713955432221, 4.5775750146291e-05, 6.97323029940275e-05,
1.70664456940787e-05, 6.75517901233086e-06},
{2.34474364146174, -0.777275400251477, 2.09531381577911, 0.0170780716714389,
0.102855060371092, -0.1203441505925, 0.000187004964420911, -0.00141720441050986,
-0.000336251285258365, 0.00145175125888695}};
float sus8coeffBeta[9][10] = {
{28.3033101237397, 1.77504446792811, 1.70758838986317, 0.0307800697044683,
0.0598759344275936, -0.014461432284373, 0.000128415617799076, 0.000664419128546701,
0.000312923304130995, -0.000269026446641855},
{7.73040563051023, 0.0267291479555493, 1.16189582308493, 0.000611047892976521,
-0.00213680506915073, -0.00517435586596902, -3.60304406049766e-06, -1.74452976404459e-05,
-3.95396925228538e-05, -7.01948519410633e-05},
{-48.0766126130725, -3.77981206700298, 3.03482861087335, -0.0678496412519532,
0.115260678424016, -0.0109681510065038, -0.000438011443691466, 0.00097230136258486,
-0.000930875177732769, -0.000203144239955507},
{12.1881935626341, -0.234345089308583, 2.01134619426134, 0.000181529284001169,
-0.00642848065105061, 0.0243985799415726, 2.0224042581776e-05, 5.22503286757285e-06,
-4.75196303016323e-05, 0.000221160482364556},
{3.49559433498742, -0.294995112674766, 1.07892379698257, 0.000861664794052587,
0.00138978933062055, 0.000436385106465176, 0.000288095124755908, 0.000147259769247883,
0.000256686898599516, 0.000198982412957039},
{9.36663996178607, -0.171266136751803, 0.799869891484541, -0.000896305696610864,
0.00477919972789653, 0.0077876110326094, 9.16475263625076e-06, 3.02461250100473e-05,
-3.63917701783264e-05, -0.000101376940843402},
{9.93372683055145, 1.02056557854246, 3.01635426591734, -0.0477113881140277,
-0.0280426434406976, 0.0438813017696874, 0.000470431190169998, -7.55753674679743e-05,
-0.000516444906323815, 0.000253844418223843},
{4.12868774589741, -0.305711790187688, 1.15739216407191, 0.00942395115281056,
0.00264758462357433, 0.00227985850688479, -0.000107537164019682, -4.91396736189963e-05,
-5.3803493814502e-05, 6.80587059728718e-06},
{64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591,
0.0898786950946473, 0.128910456296131, -8.27123227422217e-05, -0.000143979624107479,
-0.00146684876653306, -0.00102226799570239}};
float sus9coeffAlpha[9][10] = {
{65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703,
0.119985456538482, 0.142746712551924, -0.000465882328687976, 0.000606525132125852,
0.00141667074621881, 0.00109715845894006},
{5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426,
0.00973291465247784, -0.00155675297510773, 0.000147099297988423, 0.000115708967219349,
-4.1462310493722e-05, -9.80097031103588e-06},
{138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519,
-0.143071750033303, 0.237868300719915, 0.000626693630444932, -0.000579788170871402,
0.00181740650944343, -0.00207086879728281},
{-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038,
0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05,
6.3416992450033e-05, -0.000190177262510221},
{0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05,
0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716,
7.71348293209208e-05, -0.000393885990364776},
{4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428,
0.0030051503726095, 0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05,
-4.43545804544095e-05, -4.83524454851519e-05},
{99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933,
-0.15701634159692, 0.107834711298836, -0.000885326636237814, 0.000960753844480462,
-0.00179894024848343, 0.000583066757644971},
{2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662,
-0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05,
-4.15108111710131e-06, 1.33520085213482e-05},
{36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879,
0.060573568610239, 0.0182582125221054, -0.000244373383911157, -0.000271385147292484,
-0.000723799969427732, 6.76324880239196e-05}};
float sus9coeffBeta[9][10] = {
{128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636,
0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017,
0.000556768406475719},
{-7.07933839681024, -0.979062424441878, 1.21792546815617, -0.0295740143783226,
-0.00442780611714201, -0.00329612819203176, -0.000291373125216143, -7.47259350176359e-05,
-4.87265282482212e-05, -7.87490350444332e-05},
{41.1357193180502, 2.75138456414254, -0.0160889117718198, 0.0274001112562423,
-0.145644717742057, -0.0316076203283094, -0.000136443337244472, -0.00153945199081365,
0.000938960439977633, 0.000599987111822885},
{2.7980384746608, -0.234741037383589, 1.5342193016705, -0.000993791566721689,
-0.00787533639513478, 0.00927468655141365, 2.63308697896639e-05, -3.42816267184975e-05,
-8.48879419798771e-05, 3.84043821333798e-05},
{0.427687530667804, -0.346076633694936, 1.22968527483851, -4.95098138311122e-05,
0.000298245372198029, 0.000332756250024796, 0.00040375986210644, 5.20675972504572e-05,
0.000327042170278218, 5.93011568264671e-05},
{4.50337810133314, -0.279364254817202, 0.945812187846199, 0.000116182663432306,
0.0115646046622083, 0.00908289960302886, 1.90394667311541e-05, -4.4360223646434e-06,
-0.000131398914898614, -0.000145568992865512},
{-36.3377213654193, 2.21047221783626, 0.0609982245149821, -0.0670546774988572,
0.016827777144747, -0.0277834084058314, 0.000778301409125556, 0.000135846745194401,
0.00043261858797068, -0.00021172728254561},
{-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792,
0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05,
-0.000107500091550635, -5.1379722947632e-07},
{-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584,
-0.0625549615377418, 0.019178365782485, 0.000664877496455304, 0.000942971403881222,
0.000190754698755098, -0.000372226659190439}};
float sus10coeffAlpha[9][10] = {
{14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
-0.000279407497782961, 0.000726904943739837},
{-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316,
0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05,
-3.13338277344246e-05, 5.32977236959767e-06},
{30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413,
-0.0553588742704929, 0.0299275582316466, 0.000167915322354466, -0.00050925078118232,
0.000463662961330962, -0.000232919143454163},
{2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675,
0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05,
6.4669137025142e-05, 0.000209727581169138},
{-0.784841314851562, 1.10058314980836, 0.314063830836532, 0.000583003703415889,
0.000312635453606579, -0.000183738114552387, 0.000214096205760617, -0.000286744686021244,
0.000159157597180407, -0.00032235099420715},
{7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199,
-0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05,
8.85844309936609e-05, -0.000143217870916994},
{-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416,
0.0385056413989437, -0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05,
0.000514049116643205, 0.000112015427600697},
{-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885,
-0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05,
-7.55982776243849e-06, 2.78417756661088e-06},
{-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327,
-0.0193152048730234, -0.0600902798379509, 0.00031786916010672, 0.000162178988605602,
0.000224550786416246, 0.000614337977361927}};
float sus10coeffBeta[9][10] = {
{12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043,
0.0220810531548995, -0.0220926906772, 0.000310052324529521, 0.000658151808869523,
-0.000288026365111098, -0.000214619731807045},
{-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075,
0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05,
-5.4550919751855e-05, -8.6314530565085e-05},
{-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321,
0.090326735447661, -0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509,
-0.000956171370931993, 0.000491554402311223},
{-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089,
-0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05,
-4.85061736834262e-05, -1.8387092782907e-06},
{-0.250205907903409, -0.315819331560782, 1.09018364376391, -0.000521787614293089,
-0.000500747760913489, 2.48184307342838e-05, 0.000313799238640988, 0.000136669146368744,
0.000278914324565192, 0.000218512838469476},
{-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669,
0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06,
-5.41141037812903e-05, 8.50767021818388e-06},
{58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612,
-0.112195722921667, 0.0890150265857542, -0.000100675657768708, 0.000493488022135339,
-0.00137672908303878, 0.000518683157694955},
{3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344,
0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05,
-6.07871064300252e-05, 1.91822310311955e-05},
{-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427,
-0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439,
0.000551249824375055, 0.00062236627391337}};
float sus11coeffAlpha[9][10] = {
{-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707,
-0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528,
0.000166230212359982, 0.00103455037278067},
{-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314,
0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439,
1.89380065823205e-05, 1.83481122973969e-07},
{-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062,
0.227153492753605, 0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792,
-0.00247865821192621, -0.00166333309739387},
{-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732,
0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05,
0.000127251739461239, 3.26943341606363e-05},
{-2.20391533717674, 1.32902400478083, 0.38633027011889, 0.00104660852197061,
0.00105228824412283, -0.00242067551428214, -6.98346290136652e-05, -0.000369075232184835,
-1.59510520000704e-05, -0.000448565104826966},
{-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109,
-0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05,
0.000146570207542509, 0.000201596912834554},
{-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635,
0.047897938410221, -0.0355687158405231, 0.000374738707508583, -0.000448453494537518,
0.000377784972619365, -0.000276573228333836},
{-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855,
-0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05,
7.75581514100296e-05, -9.25934285039627e-06},
{183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303,
0.314006821405967, 0.200264755034566, -0.0011895153717447, -0.00253812476819896,
-0.00291324393641628, -0.00140062522117514}};
float sus11coeffBeta[9][10] = {
{34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433,
0.0562461093661426, 0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05,
0.00102633196865105, 0.000552974013759876},
{7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871,
0.00163731860604376, -0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05,
-4.27874746147066e-05, -8.77418673597557e-05},
{130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681,
-0.188837138116058, 0.346177462085361, -0.000183276946352264, -0.000702183496893294,
0.00293145272693857, -0.00318194442670715},
{-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05,
-0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06,
-0.000156596507890443, -0.000123254220377897},
{3.67569209537767, -0.387260959713287, 1.31343215605952, -0.00206444615206506,
0.00145334813110285, -0.00151259497696238, 0.000449492568365603, 6.95883968949488e-07,
0.000368585523744765, -6.3420715525635e-05},
{14.3296323024886, -0.182979476956897, 0.306817119309235, -0.00022212115978293,
0.00463485302909649, 0.0277574953550035, 1.1422454625565e-05, 1.06053257479502e-05,
-2.05720000720608e-05, -0.000338584671430337},
{-18.7534921817754, 1.14272710923224, 0.460498062012866, -0.00995826989278202,
0.0658502318647112, 0.00616942819937029, -7.70857153768402e-05, -0.000641755741925561,
0.00047849204592989, 0.000158509018296766},
{1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305,
-0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05,
-6.74778593434431e-05, -2.81973589469059e-05},
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.000889232196185857, -0.00168429567131815}};
float filterAlpha;
float sunThresh;
} susHandlingParameters;
struct GyrHandlingParameters {
double gyr0orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
// var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
// assumed to be equal for the same class of sensors
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
enum PreferAdis { NO = 0, YES = 1 };
uint8_t preferAdis = PreferAdis::YES;
} gyrHandlingParameters;
struct RwHandlingParameters {
double rw0orientationMatrix[3][3];
double rw1orientationMatrix[3][3];
double rw2orientationMatrix[3][3];
double rw3orientationMatrix[3][3];
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
} rwHandlingParameters;
struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
{0.2136, -0.3317, 1.0123},
{-0.8672, -0.1406, 0.1778},
{0.6426, 0.4794, 1.3603}};
double without0[4][3];
double without1[4][3];
double without2[4][3];
double without3[4][3];
double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
} rwMatrices;
struct SafeModeControllerParameters {
double k_rate_mekf = 0.00059437;
double k_align_mekf = 0.000056875;
double k_rate_no_mekf;
double k_align_no_mekf;
double sunMagAngleMin;
double sunTargetDir[3] = {1, 0, 0}; // Body frame
double satRateRef[3]; // Body frame
} safeModeControllerParameters;
struct DetumbleCtrlParameters {
double gainD = pow(10.0, -3.3);
} detumbleCtrlParameters;
// ToDo: mutiple structs for different pointing mode controllers?
struct PointingModeControllerParameters {
double updtFlag;
double A_rw[3][12];
double refDirection[3] = {1, 0, 0};
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180;
double zeta = 0.3;
double zetaLow;
double om = 0.3;
double omLow;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
bool desatOn = true;
double omegaEarth = 0.000072921158553;
} inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
struct StrParameters {
double exclusionAngle = 20 * M_PI / 180;
// double strOrientationMatrix[3][3];
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // in body/geometry frame
} strParameters;
struct GpsParameters {
} gpsParameters;
struct GroundStationParameters {
double latitudeGs = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeGs = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeGs = 500; // [m] Altitude
double earthRadiusEquat = 6378137; // [m]
double earthRadiusPolar = 6356752.314; // [m]
} groundStationParameters; // Stuttgart
struct SunModelParameters {
enum UseSunModel { NO = 0, YES = 3 };
uint8_t useSunModel;
float domega = 36000.771;
float omega_0 = 282.94 * M_PI / 180.; // RAAN plus argument of perigee
float m_0 = 357.5256; // coefficients for mean anomaly
float dm = 35999.049; // coefficients for mean anomaly
float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
float e1 = 0.74508 * M_PI / 180.;
float p1 = 6892. / 3600. * M_PI / 180.; // some parameter
float p2 = 72. / 3600. * M_PI / 180.; // some parameter
} sunModelParameters;
struct KalmanFilterParameters {
uint8_t activateKalmanFilter;
uint8_t requestResetFlag;
double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
double processNoiseOmega[3];
double processNoiseQuaternion[4];
double sensorNoiseSTR = 0.1 * M_PI / 180;
double sensorNoiseSS = 8 * M_PI / 180;
double sensorNoiseMAG = 4 * M_PI / 180;
double sensorNoiseRMU[3];
double sensorNoiseArwRmu; // Angular Random Walk
double sensorNoiseBsRMU; // Bias Stability
} kalmanFilterParameters;
struct MagnetorquesParameter {
double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double DipolMax = 0.2; // [Am^2]
} magnetorquesParameter;
struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180;
double gainD = pow(10.0, -3.3);
} detumbleParameter;
};
#endif /* ACSPARAMETERS_H_ */

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/*
* ActuatorCmd.cpp
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#include "ActuatorCmd.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 <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
ActuatorCmd::~ActuatorCmd() {}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
using namespace Math;
// Scaling the commanded torque to a maximum value
double torque[4] = {0, 0, 0, 0};
double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
double maxValue = 0;
for (int i = 0; i < 4; i++) { // size of torque, always 4 ?
if (abs(torque[i]) > maxValue) {
maxValue = abs(torque[i]);
}
}
if (maxValue > maxTrq) {
double scalingFactor = maxTrq / maxValue;
VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
}
// Calculating the commanded speed in RPM for every reaction wheel
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double deltaSpeed[4] = {0, 0, 0, 0};
double commandTime = acsParameters.onBoardParams.sampleTime,
inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
// Convert to Unit frame
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentUnits, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
for (int i = 0; i < 3; i++) {
if (abs(dipolMomentUnits[i]) > maxDipol) {
maxValue = abs(dipolMomentUnits[i]);
}
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
}
}

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/*
* ActuatorCmd.h
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
class ActuatorCmd {
public:
ActuatorCmd(AcsParameters *acsParameters_); // Input mode ?
virtual ~ActuatorCmd();
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
double *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentUnits resulting dipol moment for every unit
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
protected:
private:
AcsParameters acsParameters;
};
#endif /* ACTUATORCMD_H_ */

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target_sources(
${LIB_EIVE_MISSION}
PRIVATE AcsParameters.cpp
ActuatorCmd.cpp
Guidance.cpp
Igrf13Model.cpp
MultiplicativeKalmanFilter.cpp
Navigation.cpp
SensorProcessing.cpp
SensorValues.cpp
SusConverter.cpp)
add_subdirectory(control)

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/*
* Guidance.cpp
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#include "Guidance.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include "string.h"
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
Guidance::~Guidance() {}
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
for (int i = 0; i < 3; i++) {
sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
}
// memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
}
void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to groundstation
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
acsParameters.groundStationParameters.longitudeGs,
acsParameters.groundStationParameters.altitudeGs,
groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
sensorValues->gpsSet.longitude.value,
sensorValues->gpsSet.altitude.value, posSatE);
// Target direction in the ECEF frame
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmEJ(now, *dcmEJ);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
// Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
// TEST SECTION !
// double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
// dcmTEST, dcmTEST, 3, 3, 3);
MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Transformation between ECEF and Body frame
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::toDcm(quatBJ, dcmBJ);
MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
// Target Direction in the body frame
double targetDirB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
// rotation quaternion from two vectors
double refDir[3] = {0, 0, 0};
refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
refDir[2] = acsParameters.targetModeControllerParameters.refDirection[2];
double noramlizedTargetDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
VectorOperations<double>::normalize(refDir, refDir, 3);
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
double normRefDir = VectorOperations<double>::norm(refDir, 3);
double crossDir[3] = {0, 0, 0};
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
targetQuat[0] = crossDir[0];
targetQuat[1] = crossDir[1];
targetQuat[2] = crossDir[2];
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double velSatE[3] = {0, 0, 0};
velSatE[0] = 0.0; // sensorValues->gps0Velocity[0];
velSatE[1] = 0.0; // sensorValues->gps0Velocity[1];
velSatE[2] = 0.0; // sensorValues->gps0Velocity[2];
double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
// Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*dcmBJ, *dcmJEDot, *dcmBEDot, 3, 3, 3);
MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
double normRefSatRate = normVelSatB / normTargetDirB;
double satRateDir[3] = {0, 0, 0};
VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, refSatRate, 3);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate in case of star tracker blinding
//-------------------------------------------------------------------------------------
if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
double sunDirJ[3] = {0, 0, 0};
double sunDirB[3] = {0, 0, 0};
if (susDataProcessed->sunIjkModel.isValid()) {
std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
} else {
std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
}
double exclAngle = acsParameters.strParameters.exclusionAngle,
blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
blindEnd = acsParameters.targetModeControllerParameters.blindAvoidStop;
double sightAngleSun =
VectorOperations<double>::dot(acsParameters.strParameters.boresightAxis, sunDirB);
if (!(strBlindAvoidFlag)) {
double critSightAngle = blindStart * exclAngle;
if (sightAngleSun < critSightAngle) {
strBlindAvoidFlag = true;
}
}
else {
if (sightAngleSun < blindEnd * exclAngle) {
double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
double blindRefRate[3] = {0, 0, 0};
if (sunDirB[1] < 0) {
blindRefRate[0] = normBlindRefRate;
blindRefRate[1] = 0;
blindRefRate[2] = 0;
} else {
blindRefRate[0] = -normBlindRefRate;
blindRefRate[1] = 0;
blindRefRate[2] = 0;
}
VectorOperations<double>::add(blindRefRate, refSatRate, refSatRate, 3);
} else {
strBlindAvoidFlag = false;
}
}
}
}
void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
double quatRef[4] = {0, 0, 0, 0};
quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
double satRate[3] = {0, 0, 0};
std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
// valid checks ?
double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
{-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
{quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
{quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
if (quatErrorComplete[3] < 0) {
quatErrorComplete[3] *= -1;
}
quatError[0] = quatErrorComplete[0];
quatError[1] = quatErrorComplete[1];
quatError[2] = quatErrorComplete[2];
// target flag in matlab, importance, does look like it only gives
// feedback if pointing control is under 150 arcsec ??
}
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
}
else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
}
else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one
// reaction wheel the pointing control is destined to fail.
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
}
}

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/*
* Guidance.h
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include <time.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
class Guidance {
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
// Function to get the target quaternion and refence rotation rate from gps position and position
// of the ground station
void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private:
AcsParameters acsParameters;
bool strBlindAvoidFlag = false;
};
#endif /* ACS_GUIDANCE_H_ */

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/*
* Igrf13Model.cpp
*
* Created on: 10 Mar 2022
* Author: Robin Marquardt
*/
#include "Igrf13Model.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 <math.h>
#include <stdint.h>
#include <string.h>
#include "util/MathOperations.h"
Igrf13Model::Igrf13Model() {}
Igrf13Model::~Igrf13Model() {}
void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
const double altitude, timeval timeOfMagMeasurement,
double* magFieldModelInertial) {
double phi = longitude, theta = gcLatitude; // geocentric
/* Here is the co-latitude needed*/
theta -= 90 * Math::PI / 180;
theta *= (-1);
double rE = 6371200.0; // radius earth [m]
/* Predefine recursive associated Legendre polynomials */
double P11 = 1;
double P10 = P11; // P10 = P(n-1,m-0)
double dP11 = 0; // derivative
double dP10 = dP11; // derivative
double P2 = 0, dP2 = 0, P20 = 0, dP20 = 0, K = 0;
for (int m = 0; m <= igrfOrder; m++) {
for (int n = 1; n <= igrfOrder; n++) {
if (m <= n) {
/* Calculation of Legendre Polynoms (normalised) */
if (n == m) {
P2 = sin(theta) * P11;
dP2 = sin(theta) * dP11 - cos(theta) * P11;
P11 = P2;
P10 = P11;
P20 = 0;
dP11 = dP2;
dP10 = dP11;
dP20 = 0;
} else if (n == 1) {
P2 = cos(theta) * P10;
dP2 = cos(theta) * dP10 - sin(theta) * P10;
P20 = P10;
P10 = P2;
dP20 = dP10;
dP10 = dP2;
} else {
K = (pow((n - 1), 2) - pow(m, 2)) / ((2 * n - 1) * (2 * n - 3));
P2 = cos(theta) * P10 - K * P20;
dP2 = cos(theta) * dP10 - sin(theta) * P10 - K * dP20;
P20 = P10;
P10 = P2;
dP20 = dP10;
dP10 = dP2;
}
/* gradient of scalar potential towards radius */
magFieldModel[0] +=
pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
/* gradient of scalar potential towards phi */
magFieldModel[1] +=
pow(rE / (altitude + rE), (n + 2)) *
((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
/* gradient of scalar potential towards theta */
magFieldModel[2] +=
pow(rE / (altitude + rE), (n + 2)) *
((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
}
}
}
magFieldModel[1] *= -1;
magFieldModel[2] *= (-1 / sin(theta));
/* Next step: transform into inertial KOS (IJK)*/
// Julean Centuries
double JD2000Floor = 0;
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
JD2000Floor = floor(JD2000);
double JC2000 = JD2000Floor / 36525;
double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
0.000000026 * pow(JC2000, 3); // greenwich sidereal time
gst *= PI / 180; // convert to radians
double sec =
(JD2000 - JD2000Floor) * 86400; // Seconds on this day (Universal time) // FROM GPS ?
double omega0 = 0.00007292115; // mean angular velocity earth [rad/s]
gst += omega0 * sec;
double lst = gst + longitude; // local sidereal time [rad]
magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
double normVecMagFieldInert[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
}
void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
double JD2000Igrf = (2458850.0 - 2451545); // Begin of IGRF-13 (2020-01-01,00:00:00) in JD2000
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
double days = ceil(JD2000 - JD2000Igrf);
for (int i = 0; i <= igrfOrder; i++) {
for (int j = 0; j <= (igrfOrder - 1); j++) {
updatedG[i][j] = coeffG[i][j] + svG[i][j] * (days / 365);
updatedH[i][j] = coeffH[i][j] + svH[i][j] * (days / 365);
}
}
}

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/*
* Igrf13Model.h
*
* Created on: 10 Mar 2022
* Author: Robin Marquardt
* Description: Calculates the magnetic field vector of earth with the IGRF Model.
* Sources: https://www.ngdc.noaa.gov/IAGA/vmod/igrf.html
* https://doi.org/10.1186/s40623-020-01288-x
* J. Davis, Mathematical Modeling of Earth's Magnetic Field, TN, 2004
*
* [Conversion of ENU (geocentric) to IJK: Skript Bahnmechanik für Raumfahrzeuge,
* Prof. Dr.-Ing. Stefanos Fasoulas / Dr.-Ing. Frank Zimmermann]
*
*/
#ifndef IGRF13MODEL_H_
#define IGRF13MODEL_H_
#include <fsfw/parameters/HasParametersIF.h>
#include <stdint.h>
#include <string.h>
#include <time.h>
#include <cmath>
// Output should be transformed to [T] instead of [nT]
// Updating Coefficients has to be implemented yet. Question, updating everyday ?
class Igrf13Model /*:public HasParametersIF*/ {
public:
Igrf13Model();
virtual ~Igrf13Model();
// Main Function
void magFieldComp(const double longitude, const double gcLatitude, const double altitude,
timeval timeOfMagMeasurement, double* magFieldModelInertial);
// Right now the radius for igrf is simply with r0 + altitude calculated. In reality the radius is
// oriented from the satellite to earth COM Difference up to 25 km, which is 5 % of the total
// flight altitude
/* Inputs:
* - longitude: geocentric longitude [rad]
* - latitude: geocentric latitude [rad]
* - altitude: [m]
* - timeOfMagMeasurement: time of actual measurement [s]
*
* Outputs:
* - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
// Coefficient wary over year, could be updated sometimes.
void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
double magFieldModel[3];
private:
const double coeffG[14][13] = {
{-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
{-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
{0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
{0.0, 0.0, 525.7, -309.4, -140.7, -121.5, 56.5, -0.5, -1.5, 1.7, 2.3, 1.3, 0.7},
{0.0, 0.0, 0.0, 48.0, -151.2, -36.2, 15.8, -21.1, -1.1, -0.9, -0.9, -1.2, -0.3},
{0.0, 0.0, 0.0, 0.0, 13.5, 13.5, 6.4, 15.3, -13.2, 0.7, 0.3, 0.7, 0.8},
{0.0, 0.0, 0.0, 0.0, 0.0, -64.7, -7.2, 13.7, 1.1, -0.9, -0.7, 0.3, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.8, -16.5, 8.8, 1.9, -0.1, 0.5, 0.8},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -9.3, 1.4, 1.4, -0.3, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -11.9, -2.4, -0.6, -0.5, 0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -3.8, 0.2, 0.1, 0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1, -1.1, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}}; // [m][n] in nT
const double coeffH[14][13] = {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0},
{4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
{0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
{0.0, 0.0, -543.4, 199.7, -121.2, 52.8, 2.2, 12.8, 9.8, 3.6, -0.6, 1.4, 1.4},
{0.0, 0.0, 0.0, -349.7, 32.3, -64.5, 23.5, -11.7, -5.1, 4.8, -0.4, -1.8, -0.4},
{0.0, 0.0, 0.0, 0.0, 98.9, 8.9, -2.2, 14.9, -6.3, -8.6, 0.6, 0.1, -1.3},
{0.0, 0.0, 0.0, 0.0, 0.0, 68.1, -27.2, 3.6, 7.8, -0.1, -0.2, 0.8, -0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.8, -6.9, 0.4, -4.3, -1.7, -0.2, 0.3},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8, -1.4, -3.4, -1.6, 0.6, -0.1},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.6, -0.1, -3.0, 0.2, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -8.8, -2.0, -0.9, 0.5},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.6, 0.0, -0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}}; // [m][n] in nT
const double svG[14][13] = {
{5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, -12.0, 5.2, 0.2, 1.3, 0.7, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, -5.1, 1.3, -1.4, 0.1, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.9, 0.0, -0.5, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.9, -0.8, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
const double svH[14][13] = {
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.5, 3.6, -0.6, -1.3, -0.8, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, -5.0, 3.0, 0.8, -0.2, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.3, 0.0, -1.1, -0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.1, -0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
double updatedG[14][13];
double updatedH[14][13];
static const int igrfOrder = 13; // degree of truncation
};
#endif /* IGRF13MODEL_H_ */

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/*
* MultiplicativeKalmanFilter.h
*
* Created on: 4 Feb 2022
* Author: Robin Marquardt
*
* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
* means of the spacecraft attitude sensors
*
* @note: A description of the used algorithms can be found in the bachelor thesis of Robin
* Marquardt
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
*/
#ifndef MULTIPLICATIVEKALMANFILTER_H_
#define MULTIPLICATIVEKALMANFILTER_H_
#include <stdint.h> //uint8_t
#include <time.h> /*purpose, timeval ?*/
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "config/classIds.h"
class MultiplicativeKalmanFilter {
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
virtual ~MultiplicativeKalmanFilter();
void reset(); // NOT YET DEFINED - should only reset all mekf variables
/* @brief: init() - This function initializes the Kalman Filter and will provide the first
* quaternion through the QUEST algorithm
* @param: magneticField_ magnetic field vector in the body frame
* sunDir_ sun direction vector in the body frame
* sunDirJ sun direction vector in the ECI frame
* magFieldJ magnetic field vector in the ECI frame
*/
void init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
const bool validSS, const double *sunDirJ, const bool validSSModel,
const double *magFieldJ, const bool validMagModel);
/* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
* for the current step after the initalization
* @param: quaternionSTR Star Tracker Quaternion between from body to ECI frame
* rateGYRs_ Estimated satellite rotation rate from the
* Gyroscopes [rad/s] magneticField_ magnetic field vector in the body frame sunDir_
* sun direction vector in the body frame sunDirJ sun direction vector in the ECI
* frame magFieldJ magnetic field vector in the ECI frame
* outputQuat Stores the calculated quaternion
* outputSatRate Stores the adjusted satellite rate
* @return ReturnValue_t Feedback of this class, KALMAN_NO_GYR_MEAS if no satellite rate from
* the sensors was provided, KALMAN_NO_MODEL if no sunDirJ or magFieldJ was given from the model
* calculations, KALMAN_INVERSION_FAILED if the calculation of the Gain matrix was not possible,
* RETURN_OK else
*/
ReturnValue_t mekfEst(const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
const bool validGYRs_, const double *magneticField_,
const bool validMagField_, const double *sunDir_, const bool validSS,
const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
const bool validMagModel, acsctrl::MekfData *mekfData);
// Declaration of Events (like init) and memberships
// static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
// (/config/returnvalues/classIDs.h) static const Event RESET =
// MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
// resetting Mekf
static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
private:
/*Parameters*/
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
double quaternion_STR_SB[4];
bool validInit;
double sampleTime = 0.1;
/*States*/
double initialQuaternion[4]; /*after reset?QUEST*/
double initialCovarianceMatrix[6][6]; /*after reset?QUEST*/
double propagatedQuaternion[4]; /*Filter Quaternion for next step*/
bool validMekf;
uint8_t sensorsAvail;
/*Outputs*/
double quatBJ[4]; /* Output Quaternion */
double biasGYR[3]; /*Between measured and estimated sat Rate*/
/*Parameter INIT*/
// double alpha, gamma, beta;
/*Functions*/
void loadAcsParameters(AcsParameters *acsParameters_);
};
#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

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/*
* Navigation.cpp
*
* Created on: 23 May 2022
* Author: Robin Marquardt
*/
#include "Navigation.h"
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
acsParameters = *acsParameters_;
}
Navigation::~Navigation() {}
void Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
ReturnValue_t *mekfValid) {
double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatJBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
if (kalmanInit) {
*mekfValid = multiplicativeKalmanFilter.mekfEst(
quatJB, quatJBValid, gyrDataProcessed->gyrVecTot.value,
gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
mgmDataProcessed->magIgrfModel.isValid(),
mekfData); // VALIDS FOR QUAT AND RATE ??
} else {
multiplicativeKalmanFilter.init(
mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid());
kalmanInit = true;
*mekfValid = returnvalue::OK;
// Maybe we need feedback from kalmanfilter to identify if there was a problem with the
// init of kalman filter where does this class know from that kalman filter was not
// initialized ?
}
}

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/*
* Navigation.h
*
* Created on: 19 Apr 2022
* Author: Robin Marquardt
*/
#ifndef NAVIGATION_H_
#define NAVIGATION_H_
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
class Navigation {
public:
Navigation(AcsParameters *acsParameters_); // Input mode ?
virtual ~Navigation();
void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
ReturnValue_t *mekfValid);
void processSensorData();
protected:
private:
MultiplicativeKalmanFilter multiplicativeKalmanFilter;
AcsParameters acsParameters;
bool kalmanInit = false;
};
#endif /* ACS_NAVIGATION_H_ */

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#include "SensorProcessing.h"
#include <fsfw/datapool/PoolReadGuard.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 <math.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "Igrf13Model.h"
#include "util/MathOperations.h"
using namespace Math;
SensorProcessing::SensorProcessing(AcsParameters *acsParameters_)
: savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
SensorProcessing::~SensorProcessing() {}
void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
bool mgm1valid, const float *mgm2Value, bool mgm2valid,
const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
bool mgm4valid, timeval timeOfMgmMeasurement,
const AcsParameters::MgmHandlingParameters *mgmParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const double gpsAltitude, bool gpsValid,
acsctrl::MgmDataProcessed *mgmDataProcessed) {
if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
mgmDataProcessed->setValidity(false, true);
}
}
return;
}
float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
mgm4ValueNoBias[3] = {0, 0, 0};
float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
if (mgm0valid) {
VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
mgm0ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
mgm0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm1valid) {
VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
mgm1ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
mgm1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm2valid) {
VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
mgm2ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
mgm2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
}
}
if (mgm3valid) {
VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
3);
MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
mgm3ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
mgm3ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
}
}
if (mgm4valid) {
float mgm4ValueNT[3];
VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3); // uT to nT
VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
mgm4ValueNoBias, 3);
MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
mgm4ValueCalib, 3, 3, 1);
MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
mgm4ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
}
}
double mgmVecTot[3] = {0.0, 0.0, 0.0};
for (uint8_t i = 0; i < 3; i++) {
mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
}
//-----------------------Mgm Rate Computation ---------------------------------------------------
double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
bool mgmVecTotDerivativeValid = false;
double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
if (timeOfSavedMagFieldEst.tv_sec != 0) {
for (uint8_t i = 0; i < 3; i++) {
mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
savedMgmVecTot[i] = mgmVecTot[i];
}
}
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
// ---------------- IGRF- 13 Implementation here ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this
// class function has around 700 steps to perform
igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
}
{
PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm0vec.setValid(mgm0valid);
std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm1vec.setValid(mgm1valid);
std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm2vec.setValid(mgm2valid);
std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm3vec.setValid(mgm3valid);
std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
mgmDataProcessed->mgm4vec.setValid(mgm4valid);
std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
mgmDataProcessed->mgmVecTot.setValid(true);
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, mgmVecTotDerivative,
3 * sizeof(double));
mgmDataProcessed->mgmVecTotDerivative.setValid(mgmVecTotDerivativeValid);
std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
mgmDataProcessed->magIgrfModel.setValid(gpsValid);
mgmDataProcessed->setValidity(true, false);
}
}
}
void SensorProcessing::processSus(
const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value, bool sus1valid,
const uint16_t *sus2Value, bool sus2valid, const uint16_t *sus3Value, bool sus3valid,
const uint16_t *sus4Value, bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters,
acsctrl::SusDataProcessed *susDataProcessed) {
if (sus0valid) {
sus0valid = susConverter.checkSunSensorData(sus0Value);
}
if (sus1valid) {
sus1valid = susConverter.checkSunSensorData(sus1Value);
}
if (sus2valid) {
sus2valid = susConverter.checkSunSensorData(sus2Value);
}
if (sus3valid) {
sus3valid = susConverter.checkSunSensorData(sus3Value);
}
if (sus4valid) {
sus4valid = susConverter.checkSunSensorData(sus4Value);
}
if (sus5valid) {
sus5valid = susConverter.checkSunSensorData(sus5Value);
}
if (sus6valid) {
sus6valid = susConverter.checkSunSensorData(sus6Value);
}
if (sus7valid) {
sus7valid = susConverter.checkSunSensorData(sus7Value);
}
if (sus8valid) {
sus8valid = susConverter.checkSunSensorData(sus8Value);
}
if (sus9valid) {
sus9valid = susConverter.checkSunSensorData(sus9Value);
}
if (sus10valid) {
sus10valid = susConverter.checkSunSensorData(sus10Value);
}
if (sus11valid) {
sus11valid = susConverter.checkSunSensorData(sus11Value);
}
if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
!sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
susDataProcessed->setValidity(false, true);
}
}
return;
}
// WARNING: NOT TRANSFORMED IN BODY FRAME YET
// Transformation into Geomtry Frame
float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
if (sus0valid) {
MatrixOperations<float>::multiply(
susParameters->sus0orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
susParameters->sus0coeffBeta),
sus0VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
susDataProcessed->sus0vec.setValid(sus0valid);
if (!sus0valid) {
std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus1valid) {
MatrixOperations<float>::multiply(
susParameters->sus1orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
susParameters->sus1coeffBeta),
sus1VecBody, 3, 3, 1);
}
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
susDataProcessed->sus1vec.setValid(sus1valid);
if (!sus1valid) {
std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
}
}
}
if (sus2valid) {
MatrixOperations<float>::multiply(
susParameters->sus2orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
susParameters->sus2coeffBeta),
sus2VecBody, 3, 3, 1);
}
if (sus3valid) {
MatrixOperations<float>::multiply(
susParameters->sus3orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
susParameters->sus3coeffBeta),
sus3VecBody, 3, 3, 1);
}
if (sus4valid) {
MatrixOperations<float>::multiply(
susParameters->sus4orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
susParameters->sus4coeffBeta),
sus4VecBody, 3, 3, 1);
}
if (sus5valid) {
MatrixOperations<float>::multiply(
susParameters->sus5orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
susParameters->sus5coeffBeta),
sus5VecBody, 3, 3, 1);
}
if (sus6valid) {
MatrixOperations<float>::multiply(
susParameters->sus6orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
susParameters->sus6coeffBeta),
sus6VecBody, 3, 3, 1);
}
if (sus7valid) {
MatrixOperations<float>::multiply(
susParameters->sus7orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
susParameters->sus7coeffBeta),
sus7VecBody, 3, 3, 1);
}
if (sus8valid) {
MatrixOperations<float>::multiply(
susParameters->sus8orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
susParameters->sus8coeffBeta),
sus8VecBody, 3, 3, 1);
}
if (sus9valid) {
MatrixOperations<float>::multiply(
susParameters->sus9orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
susParameters->sus9coeffBeta),
sus9VecBody, 3, 3, 1);
}
if (sus10valid) {
MatrixOperations<float>::multiply(
susParameters->sus10orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
susParameters->sus10coeffBeta),
sus10VecBody, 3, 3, 1);
}
if (sus11valid) {
MatrixOperations<float>::multiply(
susParameters->sus11orientationMatrix[0],
susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
susParameters->sus11coeffBeta),
sus11VecBody, 3, 3, 1);
}
/* ------ Mean Value: susDirEst ------ */
bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
{sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
{sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
double susMeanValue[3] = {0, 0, 0};
for (uint8_t i = 0; i < 12; i++) {
if (validIds[i]) {
susMeanValue[0] += susVecBody[0][i];
susMeanValue[1] += susVecBody[1][i];
susMeanValue[2] += susVecBody[2][i];
}
}
double susVecTot[3] = {0.0, 0.0, 0.0};
VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
/* -------- Sun Derivatiative --------------------- */
double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
bool susVecTotDerivativeValid = false;
double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
if (timeOfSavedSusDirEst.tv_sec != 0) {
for (uint8_t i = 0; i < 3; i++) {
susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
savedSusVecTot[i] = susVecTot[i];
}
}
timeOfSavedSusDirEst = timeOfSusMeasurement;
/* -------- Sun Model Direction (IJK frame) ------- */
// if (useSunModel) eventuell
double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
// Julean Centuries
double sunIjkModel[3] = {0.0, 0.0, 0.0};
double JC2000 = JD2000 / 36525;
double meanLongitude =
(sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
sunModelParameters->p2 * sin(2 * meanAnomaly);
double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
sunIjkModel[0] = cos(eclipticLongitude);
sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
{
PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
susDataProcessed->sus0vec.setValid(sus0valid);
std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
susDataProcessed->sus1vec.setValid(sus1valid);
std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
susDataProcessed->sus2vec.setValid(sus2valid);
std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
susDataProcessed->sus3vec.setValid(sus3valid);
std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
susDataProcessed->sus4vec.setValid(sus4valid);
std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
susDataProcessed->sus5vec.setValid(sus5valid);
std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
susDataProcessed->sus6vec.setValid(sus6valid);
std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
susDataProcessed->sus7vec.setValid(sus7valid);
std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
susDataProcessed->sus8vec.setValid(sus8valid);
std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
susDataProcessed->sus9vec.setValid(sus9valid);
std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
susDataProcessed->sus10vec.setValid(sus10valid);
std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 3 * sizeof(float));
susDataProcessed->sus11vec.setValid(sus11valid);
std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
susDataProcessed->susVecTot.setValid(true);
std::memcpy(susDataProcessed->susVecTotDerivative.value, susVecTotDerivative,
3 * sizeof(double));
susDataProcessed->susVecTotDerivative.setValid(susVecTotDerivativeValid);
std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
susDataProcessed->sunIjkModel.setValid(true);
susDataProcessed->setValidity(true, false);
}
}
}
void SensorProcessing::processGyr(
const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue, bool gyr0axYvalid,
const double gyr0axZvalue, bool gyr0axZvalid, const double gyr1axXvalue, bool gyr1axXvalid,
const double gyr1axYvalue, bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid,
const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid,
const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters,
acsctrl::GyrDataProcessed *gyrDataProcessed) {
bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid);
bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid);
bool gyr2valid = (gyr2axXvalid && gyr2axYvalid && gyr2axZvalid);
bool gyr3valid = (gyr3axXvalid && gyr3axYvalid && gyr3axZvalid);
if (!gyr0valid && !gyr1valid && !gyr2valid && !gyr3valid) {
{
PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
gyrDataProcessed->setValidity(false, true);
}
}
return;
}
// Transforming Values to the Body Frame (actually it is the geometry frame atm)
double gyr0ValueBody[3] = {0, 0, 0}, gyr1ValueBody[3] = {0, 0, 0}, gyr2ValueBody[3] = {0, 0, 0},
gyr3ValueBody[3] = {0, 0, 0};
float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
if (gyr0valid) {
const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
gyr0ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
}
}
if (gyr1valid) {
const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
gyr1ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
}
}
if (gyr2valid) {
const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
gyr2ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
}
}
if (gyr3valid) {
const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
gyr3ValueBody, 3, 3, 1);
for (uint8_t i = 0; i < 3; i++) {
sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
}
}
/* -------- SatRateEst: Middle Value ------- */
// take ADIS measurements, if both avail
// if just one ADIS measurement avail, perform sensor fusion
double gyrVecTot[3] = {0.0, 0.0, 0.0};
if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
double gyr02ValuesSum[3];
VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
} else {
for (uint8_t i = 0; i < 3; i++) {
gyrVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
}
}
{
PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(gyrDataProcessed->gyr0vec.value, gyr0ValueBody, 3 * sizeof(double));
gyrDataProcessed->gyr0vec.setValid(gyr0valid);
std::memcpy(gyrDataProcessed->gyr1vec.value, gyr1ValueBody, 3 * sizeof(double));
gyrDataProcessed->gyr1vec.setValid(gyr1valid);
std::memcpy(gyrDataProcessed->gyr2vec.value, gyr2ValueBody, 3 * sizeof(double));
gyrDataProcessed->gyr2vec.setValid(gyr2valid);
std::memcpy(gyrDataProcessed->gyr3vec.value, gyr3ValueBody, 3 * sizeof(double));
gyrDataProcessed->gyr3vec.setValid(gyr3valid);
std::memcpy(gyrDataProcessed->gyrVecTot.value, gyrVecTot, 3 * sizeof(double));
gyrDataProcessed->gyrVecTot.setValid(true);
gyrDataProcessed->setValidity(true, false);
}
}
}
void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
const bool validGps,
acsctrl::GpsDataProcessed *gpsDataProcessed) {
// name to convert not process
double gdLongitude, gcLatitude;
if (validGps) {
// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
gdLongitude = gps0longitude * PI / 180;
double latitudeRad = gps0latitude * PI / 180;
double eccentricityWgs84 = 0.0818195;
double factor = 1 - pow(eccentricityWgs84, 2);
gcLatitude = atan(factor * tan(latitudeRad));
// validGcLatitude = true;
}
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->gdLongitude.value = gdLongitude;
gpsDataProcessed->gcLatitude.value = gcLatitude;
gpsDataProcessed->setValidity(validGps, validGps);
if (!validGps) {
gpsDataProcessed->gdLongitude.value = 0.0;
gpsDataProcessed->gcLatitude.value = 0.0;
}
}
}
}
void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters) {
sensorValues->update();
processGps(sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
(sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
sensorValues->gpsSet.altitude.isValid()),
gpsDataProcessed);
processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),
sensorValues->mgm1Rm3100Set.fieldStrengths.value,
sensorValues->mgm1Rm3100Set.fieldStrengths.isValid(),
sensorValues->mgm2Lis3Set.fieldStrengths.value,
sensorValues->mgm2Lis3Set.fieldStrengths.isValid(),
sensorValues->mgm3Rm3100Set.fieldStrengths.value,
sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
now, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
sensorValues->gpsSet.altitude.value,
(sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
sensorValues->gpsSet.altitude.isValid()),
mgmDataProcessed);
processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
sensorValues->susSets[2].channels.value, sensorValues->susSets[2].channels.isValid(),
sensorValues->susSets[3].channels.value, sensorValues->susSets[3].channels.isValid(),
sensorValues->susSets[4].channels.value, sensorValues->susSets[4].channels.isValid(),
sensorValues->susSets[5].channels.value, sensorValues->susSets[5].channels.isValid(),
sensorValues->susSets[6].channels.value, sensorValues->susSets[6].channels.isValid(),
sensorValues->susSets[7].channels.value, sensorValues->susSets[7].channels.isValid(),
sensorValues->susSets[8].channels.value, sensorValues->susSets[8].channels.isValid(),
sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
susDataProcessed);
processGyr(
sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(),
sensorValues->gyr0AdisSet.angVelocY.value, sensorValues->gyr0AdisSet.angVelocY.isValid(),
sensorValues->gyr0AdisSet.angVelocZ.value, sensorValues->gyr0AdisSet.angVelocZ.isValid(),
sensorValues->gyr1L3gSet.angVelocX.value, sensorValues->gyr1L3gSet.angVelocX.isValid(),
sensorValues->gyr1L3gSet.angVelocY.value, sensorValues->gyr1L3gSet.angVelocY.isValid(),
sensorValues->gyr1L3gSet.angVelocZ.value, sensorValues->gyr1L3gSet.angVelocZ.isValid(),
sensorValues->gyr2AdisSet.angVelocX.value, sensorValues->gyr2AdisSet.angVelocX.isValid(),
sensorValues->gyr2AdisSet.angVelocY.value, sensorValues->gyr2AdisSet.angVelocY.isValid(),
sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(),
sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(),
sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(),
sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
&acsParameters->gyrHandlingParameters, gyrDataProcessed);
}

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/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef SENSORPROCESSING_H_
#define SENSORPROCESSING_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <stdint.h> //uint8_t
#include <time.h> /*purpose, timeval ?*/
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
#include "SusConverter.h"
#include "config/classIds.h"
class SensorProcessing {
public:
void reset();
SensorProcessing(AcsParameters *acsParameters_);
virtual ~SensorProcessing();
void process(timeval now, ACS::SensorValues *sensorValues,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters); // Will call protected functions
private:
protected:
// short description needed for every function
void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
const AcsParameters::MgmHandlingParameters *mgmParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed, const double gpsAltitude,
bool gpsValid, acsctrl::MgmDataProcessed *mgmDataProcessed);
void processSus(const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value,
bool sus1valid, const uint16_t *sus2Value, bool sus2valid,
const uint16_t *sus3Value, bool sus3valid, const uint16_t *sus4Value,
bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value,
bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
timeval timeOfSusMeasurement,
const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters,
acsctrl::SusDataProcessed *susDataProcessed);
void processGyr(const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue,
bool gyr0axYvalid, const double gyr0axZvalue, bool gyr0axZvalid,
const double gyr1axXvalue, bool gyr1axXvalid, const double gyr1axYvalue,
bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue,
bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
timeval timeOfGyrMeasurement,
const AcsParameters::GyrHandlingParameters *gyrParameters,
acsctrl::GyrDataProcessed *gyrDataProcessed);
void processStr();
void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
acsctrl::GpsDataProcessed *gpsDataProcessed);
double savedMgmVecTot[3];
timeval timeOfSavedMagFieldEst;
double savedSusVecTot[3];
timeval timeOfSavedSusDirEst;
bool validMagField;
bool validGcLatitude;
const float zeroVector[3] = {0.0, 0.0, 0.0};
SusConverter susConverter;
AcsParameters acsParameters;
};
#endif /*SENSORPROCESSING_H_*/

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/*
* SensorValues.cpp
*
* Created on: 30 Mar 2022
* Author: rooob
*/
#include "SensorValues.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <stddef.h>
#include <cmath>
namespace ACS {
SensorValues::SensorValues() {}
SensorValues::~SensorValues() {}
ReturnValue_t SensorValues::updateMgm() {
ReturnValue_t result;
PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
pgMgm3.getReadResult() || pgImtq.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateSus() {
ReturnValue_t result;
PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
pgGyr3(&gyr3L3gSet);
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
pgGyr3.getReadResult());
return result;
}
ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult();
return result;
}
ReturnValue_t SensorValues::updateGps() {
ReturnValue_t result;
PoolReadGuard pgGps(&gpsSet);
result = pgGps.getReadResult();
return result;
}
ReturnValue_t SensorValues::updateRw() {
ReturnValue_t result;
PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
pgRw4.getReadResult());
return result;
}
ReturnValue_t SensorValues::update() {
ReturnValue_t mgmUpdate = updateMgm();
ReturnValue_t susUpdate = updateSus();
ReturnValue_t gyrUpdate = updateGyr();
ReturnValue_t strUpdate = updateStr();
ReturnValue_t gpsUpdate = updateGps();
ReturnValue_t rwUpdate = updateRw();
if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate && gpsUpdate && rwUpdate) ==
returnvalue::FAILED) {
return returnvalue::FAILED;
};
return returnvalue::OK;
}
} // namespace ACS

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#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
namespace ACS {
class SensorValues {
public:
SensorValues();
virtual ~SensorValues();
ReturnValue_t update();
ReturnValue_t updateMgm();
ReturnValue_t updateSus();
ReturnValue_t updateGyr();
ReturnValue_t updateGps();
ReturnValue_t updateStr();
ReturnValue_t updateRw();
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
AdisGyroPrimaryDataset gyr0AdisSet = AdisGyroPrimaryDataset(objects::GYRO_0_ADIS_HANDLER);
GyroPrimaryDataset gyr1L3gSet = GyroPrimaryDataset(objects::GYRO_1_L3G_HANDLER);
AdisGyroPrimaryDataset gyr2AdisSet = AdisGyroPrimaryDataset(objects::GYRO_2_ADIS_HANDLER);
GyroPrimaryDataset gyr3L3gSet = GyroPrimaryDataset(objects::GYRO_3_L3G_HANDLER);
startracker::SolutionSet strSet = startracker::SolutionSet(objects::STAR_TRACKER);
GpsPrimaryDataset gpsSet = GpsPrimaryDataset(objects::GPS_CONTROLLER);
// bool mgt0valid;
RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
};
} /* namespace ACS */
#endif /*ENSORVALUES_H_*/

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/*
* SusConverter.cpp
*
* Created on: 17.01.2022
* Author: Timon Schwarz
*/
#include "SusConverter.h"
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h> //for atan2
#include <iostream>
bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
susChannel[0] > susChannel[GNDREF]) {
return false;
}
if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
susChannel[1] > susChannel[GNDREF]) {
return false;
};
if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
susChannel[2] > susChannel[GNDREF]) {
return false;
};
if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
susChannel[3] > susChannel[GNDREF]) {
return false;
};
susChannelValueSum =
4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
if ((susChannelValueSum < susChannelValueSumHigh) &&
(susChannelValueSum > susChannelValueSumLow)) {
return false;
};
return true;
}
void SusConverter::calcAngle(const uint16_t susChannel[6]) {
float xout, yout;
float s = 0.03; // s=[mm] gap between diodes
uint8_t d = 5; // d=[mm] edge length of the quadratic aperture
uint8_t h = 1; // h=[mm] distance between diodes and aperture
int ch0, ch1, ch2, ch3;
// Substract measurement values from GNDREF zero current threshold
ch0 = susChannel[GNDREF] - susChannel[0];
ch1 = susChannel[GNDREF] - susChannel[1];
ch2 = susChannel[GNDREF] - susChannel[2];
ch3 = susChannel[GNDREF] - susChannel[3];
// Calculation of x and y
xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
// Calculation of the angles
alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI); //[°]
alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI); //[°]
}
void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
uint8_t index;
float k, l;
// while loop iterates above all calibration cells to use the different calibration functions in
// each cell
k = 0;
while (k < 3) {
k++;
l = 0;
while (l < 3) {
l++;
// if-condition to check in which cell the data point has to be
if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3)) - halfCellWidth) &&
alphaBetaRaw[0] < ((completeCellWidth * (k / 3)) - halfCellWidth)) &&
(alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3)) - halfCellWidth) &&
alphaBetaRaw[1] < ((completeCellWidth * (l / 3)) - halfCellWidth))) {
index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
alphaBetaCalibrated[0] =
coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
coeffAlpha[index][2] * alphaBetaRaw[1] +
coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
alphaBetaCalibrated[1] =
coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
coeffBeta[index][2] * alphaBetaRaw[1] +
coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
}
}
}
}
float* SusConverter::calculateSunVector() {
// Calculate the normalized Sun Vector
sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
(sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
(sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
sunVectorSensorFrame[2] =
-(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
return sunVectorSensorFrame;
}
float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
const float coeffAlpha[9][10],
const float coeffBeta[9][10]) {
calcAngle(susChannel);
calibration(coeffAlpha, coeffBeta);
return calculateSunVector();
}

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/*
* SusConverter.h
*
* Created on: Sep 22, 2022
* Author: marius
*/
#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
#include <fsfw/datapoollocal/LocalPoolVector.h>
#include <stdint.h>
#include "AcsParameters.h"
class SusConverter {
public:
SusConverter() {}
bool checkSunSensorData(const uint16_t susChannel[6]);
void calcAngle(const uint16_t susChannel[6]);
void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
float* calculateSunVector();
float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
const float coeffBeta[9][10]);
private:
float alphaBetaRaw[2]; //[°]
// float coeffAlpha[9][10];
// float coeffBeta[9][10];
float alphaBetaCalibrated[2]; //[°]
float sunVectorSensorFrame[3]; //[-]
bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
static const uint8_t GNDREF = 4;
uint16_t susChannelValueCheckHigh =
4096; //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
uint8_t susChannelValueCheckLow =
0; //[Bit]low borderline for the channel values of one sun sensor for validity Check
uint16_t susChannelValueSumHigh =
100; // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
// the reflection of sunlight from the moon/earth
uint8_t susChannelValueSumLow =
0; //[Bit]low borderline for check if the sun sensor is illuminated
// by the sun or by the reflection of sunlight from the moon/earth
uint8_t completeCellWidth = 140,
halfCellWidth = 70; //[°] Width of the calibration cells --> necessary for checking in
// which cell a data point should be
uint16_t susChannelValueSum = 0;
AcsParameters acsParameters;
};
#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */

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#ifndef ACS_CONFIG_CLASSIDS_H_
#define ACS_CONFIG_CLASSIDS_H_
#include <common/config/eive/resultClassIds.h>
#include <fsfw/returnvalues/FwClassIds.h>
namespace CLASS_ID {
enum eiveclassIds : uint8_t {
EIVE_CLASS_ID_START = COMMON_CLASS_ID_END,
KALMAN,
SAFE,
PTG,
DETUMBLE,
EIVE_CLASS_ID_END // [EXPORT] : [END]
};
}
#endif /* ACS_CONFIG_CLASSIDS_H_ */

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target_sources(${LIB_EIVE_MISSION} PRIVATE Detumble.cpp PtgCtrl.cpp
SafeCtrl.cpp)

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/*
* Detumble.cpp
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#include "Detumble.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/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
Detumble::~Detumble() {}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
const double *magField, const bool magFieldValid, double *magMom) {
if (!magRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
double gain = detumbleCtrlParameters->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
return returnvalue::OK;
}
ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
double *magMom) {
if (!magRateValid) {
return DETUMBLE_NO_SENSORDATA;
}
double dipolMax = magnetorquesParameter->DipolMax;
for (int i = 0; i < 3; i++) {
magMom[i] = -dipolMax * sign(magRate[i]);
}
return returnvalue::OK;
}

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/*
* Detumble.h
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACS_CONTROL_DETUMBLE_H_
#define ACS_CONTROL_DETUMBLE_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class Detumble {
public:
Detumble(AcsParameters *acsParameters_);
virtual ~Detumble();
static const uint8_t INTERFACE_ID = CLASS_ID::DETUMBLE;
static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
ReturnValue_t bDotLaw(const double *magRate, const bool magRateValid, const double *magField,
const bool magFieldValid, double *magMom);
ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
private:
AcsParameters::DetumbleCtrlParameters *detumbleCtrlParameters;
AcsParameters::MagnetorquesParameter *magnetorquesParameter;
};
#endif /*ACS_CONTROL_DETUMBLE_H_*/

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/*
* PtgCtrl.cpp
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*/
#include "PtgCtrl.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/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
PtgCtrl::~PtgCtrl() {}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices = &(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------
double om = pointingModeControllerParameters->om;
double zeta = pointingModeControllerParameters->zeta;
double qErrorMin = pointingModeControllerParameters->qiMin;
double omMax = pointingModeControllerParameters->omMax;
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
double qErrorLaw[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
if (abs(qError[i]) < qErrorMin) {
qErrorLaw[i] = qErrorMin;
} else {
qErrorLaw[i] = abs(qError[i]);
}
}
double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
double gain1 = cInt * omMax / qErrorLawNorm;
double gainVector[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(qErrorLaw, gain1, gainVector, 3);
double gainMatrixDiagonal[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double gainMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixDiagonal[0][0] = gainVector[0];
gainMatrixDiagonal[1][1] = gainVector[1];
gainMatrixDiagonal[2][2] = gainVector[2];
MatrixOperations<double>::multiply(*gainMatrixDiagonal, *(inertiaEIVE->inertiaMatrix),
*gainMatrix, 3, 3, 3);
// Inverse of gainMatrix
double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixInverse[0][0] = 1 / gainMatrix[0][0];
gainMatrixInverse[1][1] = 1 / gainMatrix[1][1];
gainMatrixInverse[2][2] = 1 / gainMatrix[2][2];
double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*gainMatrixInverse, *(inertiaEIVE->inertiaMatrix), *pMatrix, 3,
3, 3);
MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);
//------------------------------------------------------------------------------------------------
// Torque Calculations for the reaction wheels
//------------------------------------------------------------------------------------------------
double pError[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*pMatrix, qError, pError, 3, 3, 1);
double pErrorSign[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
if (abs(pError[i]) > 1) {
pErrorSign[i] = sign(pError[i]);
} else {
pErrorSign[i] = pError[i];
}
}
// Torque for quaternion error
double torqueQuat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
// Torque for rate error
double torqueRate[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), deltaRate, torqueRate, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
// Final commanded Torque for every reaction wheel
double torque[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
mgtDpDes[0] = 0;
mgtDpDes[1] = 0;
mgtDpDes[2] = 0;
return;
}
// calculating momentum of satellite and momentum of reaction wheels
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(speedRws, rwHandlingParameters->inertiaWheel, momentumRwU, 4);
MatrixOperations<double>::multiply(*(rwMatrices->alignmentMatrix), momentumRwU, momentumRw, 3, 4,
1);
double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), satRate, momentumSat, 3, 3, 1);
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error
double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(
momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
// resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
// Conversion to [rad/s] for further calculations
VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
double diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
wheelMomentum, 4);
double gainNs = pointingModeControllerParameters->gainNullspace;
double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
*nullSpaceMatrix, 4);
MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}

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/*
* PtgCtrl.h
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class PtgCtrl {
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
private:
AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */

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/*
* SafeCtrl.cpp
*
* Created on: 19 Apr 2022
* Author: Robin Marquardt
*/
#include "SafeCtrl.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 <math.h>
#include "../util/MathOperations.h"
SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) {
loadAcsParameters(acsParameters_);
MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3,
3);
}
SafeCtrl::~SafeCtrl() {}
void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
}
ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
double *magFieldModel, bool magFieldModelValid,
double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
bool rateMekfValid, double *sunDirRef, double *satRatRef,
double *outputAngle, double *outputMagMomB, bool *outputValid) {
if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
*outputValid = false;
return SAFECTRL_MEKF_INPUT_INVALID;
}
double kRate = 0, kAlign = 0;
kRate = safeModeControllerParameters->k_rate_mekf;
kAlign = safeModeControllerParameters->k_align_mekf;
// Calc sunDirB ,magFieldB with mekf output and model
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
double crossSun[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
// calc angle alpha between sunDirRef and sunDIr
double alpha = 0, dotSun = 0;
dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
alpha = acos(dotSun);
// Law Torque calculations
double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
torqueAll[3] = {0, 0, 0};
double scalarFac = 0;
scalarFac = kAlign * alpha / normCrossSun;
VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
double rateSafeMode[3] = {0, 0, 0};
VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
// Adding factor of inertia for axes
MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
// MagMom B (orthogonal torque)
double torqueMgt[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
double normMag = VectorOperations<double>::norm(magFieldB, 3);
VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
*outputAngle = alpha;
*outputValid = true;
return returnvalue::OK;
}
// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef,
double *satRateRef, double *outputAngle, double *outputMagMomB,
bool *outputValid) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
*outputValid = false;
return;
}
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir
double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
// Rate parallel to sun direction and magnetic field direction
double rateParaSun = 0, rateParaMag = 0;
double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
rateFactor = 1 - pow(cosAngleSunMag, 2);
rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
// Full rate or estimate
double estSatRate[3] = {0, 0, 0};
double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
/* Only valid if angle between sun direction and magnetic field direction
is sufficiently large */
double sinAngle = 0;
sinAngle = sin(acos(cos(cosAngleSunMag)));
if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
return;
}
// Rate for Torque Calculation
double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
// Torque Align calculation
double kRateNoMekf = 0, kAlignNoMekf = 0;
kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
double crossSusSunRef[3] = {0, 0, 0};
VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef);
double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3);
double torqueAlign[3] = {0, 0, 0};
double angleAlignErr = acos(cosAngleAlignErr);
double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr;
VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3);
// Torque Rate Calculations
double torqueRate[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3);
// Final torque
double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3,
1);
// Magnetic moment
double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
*outputAngle = angleAlignErr;
*outputValid = true;
}

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/*
* safeCtrl.h
*
* Created on: 19 Apr 2022
* Author: rooob
*/
#ifndef SAFECTRL_H_
#define SAFECTRL_H_
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class SafeCtrl {
public:
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
void loadAcsParameters(AcsParameters *acsParameters_);
ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel,
bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
double *satRateMekf, bool rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputAngle, double *outputMagMomB, bool *outputValid);
void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
double *outputMagMomB, bool *outputValid);
void idleSunPointing(); // with reaction wheels
protected:
private:
AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
double gainMatrixInertia[3][3];
double magFieldBState[3];
timeval magFieldBStateTime;
};
#endif /* ACS_CONTROL_SAFECTRL_H_ */

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/*
* TinyEKF: Extended Kalman Filter for embedded processors
*
* Copyright (C) 2015 Simon D. Levy
*
* MIT License
*/
#ifndef CHOLESKYDECOMPOSITION_H_
#define CHOLESKYDECOMPOSITION_H_
#include <math.h>
// typedef unsigned int uint8_t;
template <typename T1, typename T2 = T1, typename T3 = T2>
class CholeskyDecomposition {
public:
static int invertCholesky(T1 *matrix, T2 *result, T3 *tempMatrix, const uint8_t dimension) {
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
return cholsl(matrix, result, tempMatrix, dimension);
}
private:
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t choldc1(double *a, double *p, uint8_t n) {
int8_t i, j, k;
double sum;
for (i = 0; i < n; i++) {
for (j = i; j < n; j++) {
sum = a[i * n + j];
for (k = i - 1; k >= 0; k--) {
sum -= a[i * n + k] * a[j * n + k];
}
if (i == j) {
if (sum <= 0) {
return 1; /* error */
}
p[i] = sqrt(sum);
} else {
a[j * n + i] = sum / p[i];
}
}
}
return 0; /* success */
}
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t choldcsl(double *A, double *a, double *p, uint8_t n) {
uint8_t i, j, k;
double sum;
for (i = 0; i < n; i++)
for (j = 0; j < n; j++) a[i * n + j] = A[i * n + j];
if (choldc1(a, p, n)) return 1;
for (i = 0; i < n; i++) {
a[i * n + i] = 1 / p[i];
for (j = i + 1; j < n; j++) {
sum = 0;
for (k = i; k < j; k++) {
sum -= a[j * n + k] * a[k * n + i];
}
a[j * n + i] = sum / p[j];
}
}
return 0; /* success */
}
// https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
static uint8_t cholsl(double *A, double *a, double *p, uint8_t n) {
uint8_t i, j, k;
if (choldcsl(A, a, p, n)) return 1;
for (i = 0; i < n; i++) {
for (j = i + 1; j < n; j++) {
a[i * n + j] = 0.0;
}
}
for (i = 0; i < n; i++) {
a[i * n + i] *= a[i * n + i];
for (k = i + 1; k < n; k++) {
a[i * n + i] += a[k * n + i] * a[k * n + i];
}
for (j = i + 1; j < n; j++) {
for (k = j; k < n; k++) {
a[i * n + j] += a[k * n + i] * a[k * n + j];
}
}
}
for (i = 0; i < n; i++) {
for (j = 0; j < i; j++) {
a[i * n + j] = a[j * n + i];
}
}
return 0; /* success */
}
};
#endif /* CONTRIB_MATH_CHOLESKYDECOMPOSITION_H_ */

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#ifndef MATH_MATHOPERATIONS_H_
#define MATH_MATHOPERATIONS_H_
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <math.h>
#include <stdint.h>
#include <string.h>
#include <sys/time.h>
#include <iostream>
using namespace Math;
template <typename T1, typename T2 = T1>
class MathOperations {
public:
static void skewMatrix(const T1 vector[], T2 *result) {
// Input Dimension [3], Output [3][3]
result[0] = 0;
result[1] = -vector[2];
result[2] = vector[1];
result[3] = vector[2];
result[4] = 0;
result[5] = -vector[0];
result[6] = -vector[1];
result[7] = vector[0];
result[8] = 0;
}
static void vecTransposeVecMatrix(const T1 vector1[], const T1 transposeVector2[], T2 *result,
uint8_t size = 3) {
// Looks like MatrixOpertions::multiply is able to do the same thing
for (uint8_t resultColumn = 0; resultColumn < size; resultColumn++) {
for (uint8_t resultRow = 0; resultRow < size; resultRow++) {
result[resultColumn + size * resultRow] =
vector1[resultRow] * transposeVector2[resultColumn];
}
}
/*matrixSun[i][j] = sunEstB[i] * sunEstB[j];
matrixMag[i][j] = magEstB[i] * magEstB[j];
matrixSunMag[i][j] = sunEstB[i] * magEstB[j];
matrixMagSun[i][j] = magEstB[i] * sunEstB[j];*/
}
static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
int min_idx;
T1 temp;
memcpy(result, matrix, rowSize * colSize * sizeof(*result));
// One by one move boundary of unsorted subarray
for (int k = 0; k < rowSize; k++) {
for (int i = 0; i < colSize - 1; i++) {
// Find the minimum element in unsorted array
min_idx = i;
for (int j = i + 1; j < colSize; j++) {
if (result[j + k * colSize] < result[min_idx + k * colSize]) {
min_idx = j;
}
}
// Swap the found minimum element with the first element
temp = result[i + k * colSize];
result[i + k * colSize] = result[min_idx + k * colSize];
result[min_idx + k * colSize] = temp;
}
}
}
static void convertDateToJD2000(const T1 time, T2 julianDate) {
// time = { Y, M, D, h, m,s}
// time in sec and microsec -> The Epoch (unixtime)
julianDate = 1721013.5 + 367 * time[0] - floor(7 / 4 * (time[0] + (time[1] + 9) / 12)) +
floor(275 * time[1] / 9) + time[2] +
(60 * time[3] + time[4] + (time(5) / 60)) / 1440;
}
static T1 convertUnixToJD2000(timeval time) {
// time = {{s},{us}}
T1 julianDate2000;
julianDate2000 = (time.tv_sec / 86400.0) + 2440587.5 - 2451545;
return julianDate2000;
}
static void dcmFromQuat(const T1 vector[], T1 *outputDcm) {
// convention q = [qx,qy,qz, qw]
outputDcm[0] = pow(vector[0], 2) - pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
outputDcm[1] = 2 * (vector[0] * vector[1] + vector[2] * vector[3]);
outputDcm[2] = 2 * (vector[0] * vector[2] - vector[1] * vector[3]);
outputDcm[3] = 2 * (vector[1] * vector[0] - vector[2] * vector[3]);
outputDcm[4] = -pow(vector[0], 2) + pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
outputDcm[5] = 2 * (vector[1] * vector[2] + vector[0] * vector[3]);
outputDcm[6] = 2 * (vector[2] * vector[0] + vector[1] * vector[3]);
outputDcm[7] = 2 * (vector[2] * vector[1] - vector[0] * vector[3]);
outputDcm[8] = -pow(vector[0], 2) - pow(vector[1], 2) + pow(vector[2], 2) + pow(vector[3], 2);
}
static void cartesianFromLatLongAlt(const T1 lat, const T1 longi, const T1 alt,
T2 *cartesianOutput) {
double radiusPolar = 6378137;
double radiusEqua = 6356752.314;
double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
cartesianOutput[0] = (auxRadius + alt) * cos(lat) * cos(longi);
cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
}
/* @brief: dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
* @param: time Current time
* outputDcmEJ Transformation matrix from ECI (J) to ECEF (E) [3][3]
* @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
* Landis Markley and John L. Crassidis*/
static void dcmEJ(timeval time, T1 *outputDcmEJ) {
double JD2000Floor = 0;
double JD2000 = convertUnixToJD2000(time);
// Getting Julian Century from Day start : JD (Y,M,D,0,0,0)
JD2000Floor = floor(JD2000);
if ((JD2000 - JD2000Floor) < 0.5) {
JD2000Floor -= 0.5;
} else {
JD2000Floor += 0.5;
}
double JC2000 = JD2000Floor / 36525;
double sec = (JD2000 - JD2000Floor) * 86400;
double gmst = 0; // greenwich mean sidereal time
gmst = 24110.54841 + 8640184.812866 * JC2000 + 0.093104 * pow(JC2000, 2) -
0.0000062 * pow(JC2000, 3) + 1.002737909350795 * sec;
double rest = gmst / 86400;
double FloorRest = floor(rest);
double secOfDay = rest - FloorRest;
secOfDay *= 86400;
gmst = secOfDay / 240 * PI / 180;
outputDcmEJ[0] = cos(gmst);
outputDcmEJ[1] = sin(gmst);
outputDcmEJ[2] = 0;
outputDcmEJ[3] = -sin(gmst);
outputDcmEJ[4] = cos(gmst);
outputDcmEJ[5] = 0;
outputDcmEJ[6] = 0;
outputDcmEJ[7] = 0;
outputDcmEJ[8] = 1;
}
/* @brief: ecfToEciWithNutPre() - calculates the transformation matrix between ECEF and ECI frame
* give also the back the derivative of this matrix
* @param: unixTime Current time in Unix format
* outputDcmEJ Transformation matrix from ECI (J) to ECEF (E) [3][3]
* outputDotDcmEJ Derivative of transformation matrix [3][3]
* @source: Entwicklung einer Simulationsumgebung und robuster Algorithmen für das Lage- und
Orbitkontrollsystem der Kleinsatelliten Flying Laptop und PERSEUS, P.244ff
* Oliver Zeile
*
https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110*/
static void ecfToEciWithNutPre(timeval unixTime, T1 *outputDcmEJ, T1 *outputDotDcmEJ) {
// TT = UTC/Unix + 32.184s (TAI Difference) + 27 (Leap Seconds in UTC since 1972) + 10
//(initial Offset) International Atomic Time (TAI)
double JD2000UTC1 = convertUnixToJD2000(unixTime);
// Julian Date / century from TT
timeval terestrialTime = unixTime;
terestrialTime.tv_sec = unixTime.tv_sec + 32.184 + 37;
double JD2000TT = convertUnixToJD2000(terestrialTime);
double JC2000TT = JD2000TT / 36525;
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth rotation Theta
//-------------------------------------------------------------------------------------
double theta[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// Earth Rotation angle
double era = 0;
era = 2 * PI * (0.779057273264 + 1.00273781191135448 * JD2000UTC1);
// Greenwich Mean Sidereal Time
double gmst2000 = 0.014506 + 4612.15739966 * JC2000TT + 1.39667721 * pow(JC2000TT, 2) -
0.00009344 * pow(JC2000TT, 3) + 0.00001882 * pow(JC2000TT, 4);
double arcsecFactor = 1 * PI / (180 * 3600);
gmst2000 *= arcsecFactor;
gmst2000 += era;
theta[0][0] = cos(gmst2000);
theta[0][1] = sin(gmst2000);
theta[0][2] = 0;
theta[1][0] = -sin(gmst2000);
theta[1][1] = cos(gmst2000);
theta[1][2] = 0;
theta[2][0] = 0;
theta[2][1] = 0;
theta[2][2] = 1;
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth Precession P
//-------------------------------------------------------------------------------------
double precession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double zeta = 2306.2181 * JC2000TT + 0.30188 * pow(JC2000TT, 2) + 0.017998 * pow(JC2000TT, 3);
double theta2 = 2004.3109 * JC2000TT - 0.42665 * pow(JC2000TT, 2) - 0.041833 * pow(JC2000TT, 3);
double ze = zeta + 0.79280 * pow(JC2000TT, 2) + 0.000205 * pow(JC2000TT, 3);
zeta *= arcsecFactor;
theta2 *= arcsecFactor;
ze *= arcsecFactor;
precession[0][0] = -sin(ze) * sin(zeta) + cos(ze) * cos(theta2) * cos(zeta);
precession[1][0] = cos(ze) * sin(zeta) + sin(ze) * cos(theta2) * cos(zeta);
precession[2][0] = sin(theta2) * cos(zeta);
precession[0][1] = -sin(ze) * cos(zeta) - cos(ze) * cos(theta2) * sin(zeta);
precession[1][1] = cos(ze) * cos(zeta) - sin(ze) * cos(theta2) * sin(zeta);
precession[2][1] = -sin(theta2) * sin(zeta);
precession[0][2] = -cos(ze) * sin(theta2);
precession[1][2] = -sin(ze) * sin(theta2);
precession[2][2] = cos(theta2);
//-------------------------------------------------------------------------------------
// Calculation of Transformation from earth Nutation size
//-------------------------------------------------------------------------------------
double nutation[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
// lunar asc node
double Om = 125 * 3600 + 2 * 60 + 40.28 - (1934 * 3600 + 8 * 60 + 10.539) * JC2000TT +
7.455 * pow(JC2000TT, 2) + 0.008 * pow(JC2000TT, 3);
Om *= arcsecFactor;
// delta psi approx
double dp = -17.2 * arcsecFactor * sin(Om);
// delta eps approx
double de = 9.203 * arcsecFactor * cos(Om);
// % true obliquity of the ecliptic eps p.71 (simplified)
double e = 23.43929111 * PI / 180 - 46.8150 / 3600 * JC2000TT * PI / 180;
;
nutation[0][0] = cos(dp);
nutation[1][0] = cos(e + de) * sin(dp);
nutation[2][0] = sin(e + de) * sin(dp);
nutation[0][1] = -cos(e) * sin(dp);
nutation[1][1] = cos(e) * cos(e + de) * cos(dp) + sin(e) * sin(e + de);
nutation[2][1] = cos(e) * sin(e + de) * cos(dp) - sin(e) * cos(e + de);
nutation[0][2] = -sin(e) * sin(dp);
nutation[1][2] = sin(e) * cos(e + de) * cos(dp) - cos(e) * sin(e + de);
nutation[2][2] = sin(e) * sin(e + de) * cos(dp) + cos(e) * cos(e + de);
//-------------------------------------------------------------------------------------
// Calculation of Derivative of rotation matrix from earth
//-------------------------------------------------------------------------------------
double thetaDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dotMatrix[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
double omegaEarth = 0.000072921158553;
MatrixOperations<double>::multiply(*dotMatrix, *theta, *thetaDot, 3, 3, 3);
MatrixOperations<double>::multiplyScalar(*thetaDot, omegaEarth, *thetaDot, 3, 3);
//-------------------------------------------------------------------------------------
// Calculation of transformation matrix and Derivative of transformation matrix
//-------------------------------------------------------------------------------------
double nutationPrecession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(*nutation, *precession, *nutationPrecession, 3, 3, 3);
MatrixOperations<double>::multiply(*nutationPrecession, *theta, outputDcmEJ, 3, 3, 3);
MatrixOperations<double>::multiply(*nutationPrecession, *thetaDot, outputDotDcmEJ, 3, 3, 3);
}
static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
int i, j;
double determinant;
double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
{matrix[3], matrix[4], matrix[5]},
{matrix[6], matrix[7], matrix[8]}};
for (i = 0; i < 3; i++) {
determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
}
// cout<<"\size\ndeterminant: "<<determinant;
// cout<<"\size\nInverse of matrix is: \size";
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -
(mat[(j + 1) % 3][(i + 2) % 3] * mat[(j + 2) % 3][(i + 1) % 3])) /
determinant;
}
}
}
static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
float det = 0;
T1 matrix[size][size], submatrix[size - 1][size - 1];
for (uint8_t row = 0; row < size; row++) {
for (uint8_t col = 0; col < size; col++) {
matrix[row][col] = inputMatrix[row * size + col];
}
}
if (size == 2)
return ((matrix[0][0] * matrix[1][1]) - (matrix[1][0] * matrix[0][1]));
else {
for (uint8_t col = 0; col < size; col++) {
int subRow = 0;
for (uint8_t rowIndex = 1; rowIndex < size; rowIndex++) {
int subCol = 0;
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
if (colIndex == col) continue;
submatrix[subRow][subCol] = matrix[rowIndex][colIndex];
subCol++;
}
subRow++;
}
det += (pow(-1, col) * matrix[0][col] *
MathOperations<T1>::matrixDeterminant(*submatrix, size - 1));
}
}
return det;
}
static int inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
if (MathOperations<T1>::matrixDeterminant(inputMatrix, size) == 0) {
return 1; // Matrix is singular and not invertible
}
T1 matrix[size][size], identity[size][size];
// reformat array to matrix
for (uint8_t row = 0; row < size; row++) {
for (uint8_t col = 0; col < size; col++) {
matrix[row][col] = inputMatrix[row * size + col];
}
}
// init identity matrix
std::memset(identity, 0.0, sizeof(identity));
for (uint8_t diag = 0; diag < size; diag++) {
identity[diag][diag] = 1;
}
// gauss-jordan algo
// sort matrix such as no diag entry shall be 0
// should not be needed as such a matrix has a det=0
for (uint8_t row = 0; row < size; row++) {
if (matrix[row][row] == 0.0) {
bool swaped = false;
uint8_t rowIndex = 0;
while ((rowIndex < size) && !swaped) {
if ((matrix[rowIndex][row] != 0.0) && (matrix[row][rowIndex] != 0.0)) {
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
}
swaped = true;
}
rowIndex++;
}
if (!swaped) {
return 1; // matrix not invertible
}
}
}
for (int row = 0; row < size; row++) {
if (matrix[row][row] == 0.0) {
uint8_t rowIndex;
if (row == 0) {
rowIndex = size - 1;
} else {
rowIndex = row - 1;
}
for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
}
row--;
if (row < 0) {
return 1; // Matrix is not invertible
}
}
}
// remove non diag elements in matrix (jordan)
for (int row = 0; row < size; row++) {
for (int rowIndex = 0; rowIndex < size; rowIndex++) {
if (row != rowIndex) {
double ratio = matrix[rowIndex][row] / matrix[row][row];
for (int colIndex = 0; colIndex < size; colIndex++) {
matrix[rowIndex][colIndex] -= ratio * matrix[row][colIndex];
identity[rowIndex][colIndex] -= ratio * identity[row][colIndex];
}
}
}
}
// normalize rows in matrix (gauss)
for (int row = 0; row < size; row++) {
for (int col = 0; col < size; col++) {
identity[row][col] = identity[row][col] / matrix[row][row];
}
}
std::memcpy(inverse, identity, sizeof(identity));
return 0; // successful inversion
}
};
#endif /* ACS_MATH_MATHOPERATIONS_H_ */

208
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -8,16 +8,37 @@
namespace acsctrl {
enum SetIds : uint32_t { MGM_SENSOR_DATA, SUS_SENSOR_DATA };
enum SetIds : uint32_t {
MGM_SENSOR_DATA,
MGM_PROCESSED_DATA,
SUS_SENSOR_DATA,
SUS_PROCESSED_DATA,
GYR_SENSOR_DATA,
GYR_PROCESSED_DATA,
GPS_PROCESSED_DATA,
MEKF_DATA,
CTRL_VAL_DATA,
ACTUATOR_CMD_DATA
};
enum PoolIds : lp_id_t {
// MGM Raw
MGM_0_LIS3_UT,
MGM_1_RM3100_UT,
MGM_2_LIS3_UT,
MGM_3_RM3100_UT,
MGM_IMTQ_CAL_NT,
MGM_IMTQ_CAL_ACT_STATUS,
// MGM Processed
MGM_0_VEC,
MGM_1_VEC,
MGM_2_VEC,
MGM_3_VEC,
MGM_4_VEC,
MGM_VEC_TOT,
MGM_VEC_TOT_DERIVATIVE,
MAG_IGRF_MODEL,
// SUS Raw
SUS_0_N_LOC_XFYFZM_PT_XF,
SUS_6_R_LOC_XFYBZM_PT_XF,
@ -35,15 +56,64 @@ enum PoolIds : lp_id_t {
SUS_5_N_LOC_XFYMZB_PT_ZB,
SUS_11_R_LOC_XBYMZB_PT_ZB,
// SUS Processed
SUS_0_VEC,
SUS_1_VEC,
SUS_2_VEC,
SUS_3_VEC,
SUS_4_VEC,
SUS_5_VEC,
SUS_6_VEC,
SUS_7_VEC,
SUS_8_VEC,
SUS_9_VEC,
SUS_10_VEC,
SUS_11_VEC,
SUS_VEC_TOT,
SUS_VEC_TOT_DERIVATIVE,
SUN_IJK_MODEL,
// GYR Raw
GYR_0_ADIS,
GYR_1_L3,
GYR_2_ADIS,
GYR_3_L3,
// GYR Processed
GYR_0_VEC,
GYR_1_VEC,
GYR_2_VEC,
GYR_3_VEC,
GYR_VEC_TOT,
// GPS Processed
GC_LATITUDE,
GD_LONGITUDE,
// MEKF
SAT_ROT_RATE_MEKF,
QUAT_MEKF,
// Ctrl Values
TGT_QUAT,
ERROR_QUAT,
ERROR_ANG,
// Actuator Cmd
RW_TARGET_TORQUE,
RW_TARGET_SPEED,
MTQ_TARGET_DIPOLE,
};
static constexpr uint8_t MGM_SET_ENTRIES = 10;
static constexpr uint8_t SUS_SET_ENTRIES = 12;
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
static constexpr uint8_t MEKF_SET_ENTRIES = 2;
static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
/**
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
*/
class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
class MgmDataRaw : public StaticLocalDataSet<MGM_SET_RAW_ENTRIES> {
public:
MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
@ -60,9 +130,133 @@ class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
private:
};
class SusData : public StaticLocalDataSet<SUS_SET_ENTRIES> {
class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
public:
SusData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
MgmDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_PROCESSED_DATA) {}
lp_vec_t<float, 3> mgm0vec = lp_vec_t<float, 3>(sid.objectId, MGM_0_VEC, this);
lp_vec_t<float, 3> mgm1vec = lp_vec_t<float, 3>(sid.objectId, MGM_1_VEC, this);
lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
lp_vec_t<double, 3> mgmVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
private:
};
class SusDataRaw : public StaticLocalDataSet<SUS_SET_RAW_ENTRIES> {
public:
SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
lp_vec_t<uint16_t, 6> sus10 =
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
lp_vec_t<uint16_t, 6> sus11 =
lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
private:
};
class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
public:
SusDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_PROCESSED_DATA) {}
lp_vec_t<float, 3> sus0vec = lp_vec_t<float, 3>(sid.objectId, SUS_0_VEC, this);
lp_vec_t<float, 3> sus1vec = lp_vec_t<float, 3>(sid.objectId, SUS_1_VEC, this);
lp_vec_t<float, 3> sus2vec = lp_vec_t<float, 3>(sid.objectId, SUS_2_VEC, this);
lp_vec_t<float, 3> sus3vec = lp_vec_t<float, 3>(sid.objectId, SUS_3_VEC, this);
lp_vec_t<float, 3> sus4vec = lp_vec_t<float, 3>(sid.objectId, SUS_4_VEC, this);
lp_vec_t<float, 3> sus5vec = lp_vec_t<float, 3>(sid.objectId, SUS_5_VEC, this);
lp_vec_t<float, 3> sus6vec = lp_vec_t<float, 3>(sid.objectId, SUS_6_VEC, this);
lp_vec_t<float, 3> sus7vec = lp_vec_t<float, 3>(sid.objectId, SUS_7_VEC, this);
lp_vec_t<float, 3> sus8vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
lp_vec_t<double, 3> susVecTotDerivative =
lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
private:
};
class GyrDataRaw : public StaticLocalDataSet<GYR_SET_RAW_ENTRIES> {
public:
GyrDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_SENSOR_DATA) {}
lp_vec_t<double, 3> gyr0Adis = lp_vec_t<double, 3>(sid.objectId, GYR_0_ADIS, this);
lp_vec_t<float, 3> gyr1L3 = lp_vec_t<float, 3>(sid.objectId, GYR_1_L3, this);
lp_vec_t<double, 3> gyr2Adis = lp_vec_t<double, 3>(sid.objectId, GYR_2_ADIS, this);
lp_vec_t<float, 3> gyr3L3 = lp_vec_t<float, 3>(sid.objectId, GYR_3_L3, this);
private:
};
class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
public:
GyrDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_PROCESSED_DATA) {}
lp_vec_t<double, 3> gyr0vec = lp_vec_t<double, 3>(sid.objectId, GYR_0_VEC, this);
lp_vec_t<double, 3> gyr1vec = lp_vec_t<double, 3>(sid.objectId, GYR_1_VEC, this);
lp_vec_t<double, 3> gyr2vec = lp_vec_t<double, 3>(sid.objectId, GYR_2_VEC, this);
lp_vec_t<double, 3> gyr3vec = lp_vec_t<double, 3>(sid.objectId, GYR_3_VEC, this);
lp_vec_t<double, 3> gyrVecTot = lp_vec_t<double, 3>(sid.objectId, GYR_VEC_TOT, this);
private:
};
class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
public:
GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
private:
};
class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
public:
MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
private:
};
class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
public:
CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
private:
};
class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
public:
ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}
lp_vec_t<double, 4> rwTargetTorque = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_TORQUE, this);
lp_vec_t<int32_t, 4> rwTargetSpeed = lp_vec_t<int32_t, 4>(sid.objectId, RW_TARGET_SPEED, this);
lp_vec_t<int16_t, 3> mtqTargetDipole =
lp_vec_t<int16_t, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
private:
};

42
mission/core/GenericFactory.cpp
View File

@ -33,12 +33,13 @@
#include "objects/systemObjectList.h"
#include "tmtc/pusIds.h"
#if OBSW_ADD_TCPIP_BRIDGE == 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
// UDP server includes
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
// TCP server includes
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h"
@ -97,24 +98,23 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
new PoolManager(objects::IPC_STORE, poolCfg);
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
sif::info << "Created UDP server for TMTC commanding with listener port "
<< tmtcBridge->getUdpPort() << std::endl;
#else
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
<< udpBridge->getUdpPort() << std::endl;
udpBridge->setMaxNumberOfPacketsStored(150);
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER);
// TCP is stream based. Use packet ID as start marker when parsing for space packets
tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
sif::info << "Created TCP server for TMTC commanding with listener port "
<< tcpServer->getTcpPort() << std::endl;
#if OBSW_TCP_SERVER_WIRETAPPING == 1
tcpServer->enableWiretapping(true);
#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
tcpBridge->setMaxNumberOfPacketsStored(150);
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
tmtcBridge->setMaxNumberOfPacketsStored(150);
#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
auto* ccsdsDistrib =
@ -123,9 +123,15 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
*cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
*pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 80);
#if OBSW_ADD_TCPIP_BRIDGE == 1
(*cfdpFunnel)->addDestination(*tmtcBridge, 0);
(*pusFunnel)->addDestination(*tmtcBridge, 0);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
(*cfdpFunnel)->addDestination(*udpBridge, 0);
(*pusFunnel)->addDestination(*udpBridge, 0);
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
(*cfdpFunnel)->addDestination(*tcpBridge, 0);
(*pusFunnel)->addDestination(*tcpBridge, 0);
#endif
#endif
// Every TM packet goes through this funnel
new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);

1
mission/devices/devicedefinitions/GPSDefinitions.h
View File

@ -3,6 +3,7 @@
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "eive/eventSubsystemIds.h"
namespace GpsHyperion {

2
tmtc

@ -1 +1 @@
Subproject commit 6e152818707c7a12be8900bc239a0073053c0bec
Subproject commit 96e27e716349bf01cac11c7e7b0b497a36149e87

2
unittest/controller/testThermalController.cpp
View File

@ -13,7 +13,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
const object_id_t THERMAL_CONTROLLER_ID = 0x123;
new TemperatureSensorsDummy();
new SusDummy();
//new SusDummy();
// testEnvironment::initialize();