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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 +17 -4
2 changed files with 17 additions and 4 deletions
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11
mission/controller/acs/SensorValues.cpp
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@ -52,11 +52,20 @@ ReturnValue_t SensorValues::updateGyr() {
return result; return result;
} }
ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult();
return result;
}
ReturnValue_t SensorValues::update() { ReturnValue_t SensorValues::update() {
ReturnValue_t mgmUpdate = updateMgm(); ReturnValue_t mgmUpdate = updateMgm();
ReturnValue_t susUpdate = updateSus(); ReturnValue_t susUpdate = updateSus();
ReturnValue_t gyrUpdate = updateGyr(); ReturnValue_t gyrUpdate = updateGyr();
if ((mgmUpdate && susUpdate && gyrUpdate) == returnvalue::FAILED) { ReturnValue_t strUpdate = updateStr();
if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate) == returnvalue::FAILED) {
return returnvalue::FAILED; return returnvalue::FAILED;
}; };
return returnvalue::OK; return returnvalue::OK;

10
mission/controller/acs/SensorValues.h
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@ -5,6 +5,7 @@
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h" #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h" #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h" #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h" #include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h" #include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
@ -21,6 +22,7 @@ class SensorValues {
ReturnValue_t updateMgm(); ReturnValue_t updateMgm();
ReturnValue_t updateSus(); ReturnValue_t updateSus();
ReturnValue_t updateGyr(); ReturnValue_t updateGyr();
ReturnValue_t updateStr();
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER); MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
@ -52,9 +54,11 @@ class SensorValues {
AdisGyroPrimaryDataset gyr2AdisSet = AdisGyroPrimaryDataset(objects::GYRO_2_ADIS_HANDLER); AdisGyroPrimaryDataset gyr2AdisSet = AdisGyroPrimaryDataset(objects::GYRO_2_ADIS_HANDLER);
GyroPrimaryDataset gyr3L3gSet = GyroPrimaryDataset(objects::GYRO_3_L3G_HANDLER); GyroPrimaryDataset gyr3L3gSet = GyroPrimaryDataset(objects::GYRO_3_L3G_HANDLER);
double quatJB[4]; // output star tracker. quaternion or dcm ? refrence to which KOS? startracker::SolutionSet strSet = startracker::SolutionSet(objects::STAR_TRACKER);
bool quatJBValid;
int strIntTime[2]; // double quatJB[4]; // output star tracker. quaternion or dcm ? refrence to which KOS?
// bool quatJBValid;
// int strIntTime[2];
double gps0latitude; // Reference is WGS84, so this one will probably be geodetic double gps0latitude; // Reference is WGS84, so this one will probably be geodetic
double gps0longitude; // Should be geocentric for IGRF double gps0longitude; // Should be geocentric for IGRF