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First Version of ACS Controller #329

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muellerr merged 106 commits from acs-ctrl-v1 into develop 2022-12-02 16:21:58 +01:00
Conversation 0 Commits 106 Files Changed 50 +25 -8
1 changed files with 25 additions and 8 deletions
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33
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
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@ -16,7 +16,8 @@ enum SetIds : uint32_t {
GYR_SENSOR_DATA, GYR_SENSOR_DATA,
GYR_PROCESSED_DATA, GYR_PROCESSED_DATA,
GPS_SENSOR_DATA, GPS_SENSOR_DATA,
MEKF_DATA MEKF_DATA,
ACTUATOR_CMD_DATA
}; };
enum PoolIds : lp_id_t { enum PoolIds : lp_id_t {
@ -81,22 +82,27 @@ enum PoolIds : lp_id_t {
GYR_2_VEC, GYR_2_VEC,
GYR_3_VEC, GYR_3_VEC,
GYR_VEC_TOT, GYR_VEC_TOT,
// GPS PROCESSED // GPS Processed
GC_LATITUDE, GC_LATITUDE,
GD_LONGITUDE, GD_LONGITUDE,
// MEKF // MEKF
SAT_ROT_RATE_MEKF, SAT_ROT_RATE_MEKF,
QUAT_MEKF, QUAT_MEKF,
// Actuator Cmd
RW_TARGET_TORQUE,
RW_TARGET_SPEED,
MTQ_TARGET_DIPOLE,
}; };
static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10; static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 7 * sizeof(float) + 1 * sizeof(double); static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12; static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 14 * sizeof(float) + 1 * sizeof(double); static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
static constexpr uint8_t GYR_SET_RAW_ENTRIES = 2 * sizeof(float) + 2 * sizeof(double); static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5 * sizeof(double); static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2 * sizeof(double); static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
static constexpr uint8_t MEKF_SET_ENTRIES = 14 * sizeof(float) + 1 * sizeof(double); static constexpr uint8_t MEKF_SET_ENTRIES = 2;
static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
/** /**
* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status. * @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@ -227,6 +233,17 @@ class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
private: 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<double, 4> rwTargetSpeed = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_SPEED, this);
lp_vec_t<double, 3> mtqTargetDipole = lp_vec_t<double, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
private:
};
} // namespace acsctrl } // namespace acsctrl
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */ #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */