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Final Version of the ACS Controller #367

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muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
Conversation 1 Commits 78 Files Changed 27 +148 -52
1 changed files with 148 additions and 52 deletions
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Showing only changes of commit 454d56935c - Show all commits

200
mission/controller/acs/AcsParameters.cpp
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@ -237,12 +237,24 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(gyrHandlingParameters.gyr02variance);
parameterWrapper->set(gyrHandlingParameters.gyr0bias);
break;
case 0x5:
parameterWrapper->set(gyrHandlingParameters.gyr13variance);
parameterWrapper->set(gyrHandlingParameters.gyr1bias);
break;
case 0x6:
parameterWrapper->set(gyrHandlingParameters.gyr2bias);
break;
case 0x7:
parameterWrapper->set(gyrHandlingParameters.gyr3bias);
break;
case 0x8:
parameterWrapper->set(gyrHandlingParameters.gyr02variance);
break;
case 0x9:
parameterWrapper->set(gyrHandlingParameters.gyr13variance);
break;
case 0xA:
parameterWrapper->set(gyrHandlingParameters.preferAdis);
break;
default:
@ -327,58 +339,157 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0x9): // PointingModeControllerParameters
case (0x9): // TargetModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0x1:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0x2:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0x3:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x4:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
case 0x7:
parameterWrapper->set(targetModeControllerParameters.zeta);
break;
case 0x8:
case 0x1:
parameterWrapper->set(targetModeControllerParameters.om);
break;
case 0x9:
case 0x2:
parameterWrapper->set(targetModeControllerParameters.omMax);
break;
case 0xA:
case 0x3:
parameterWrapper->set(targetModeControllerParameters.qiMin);
break;
case 0xB:
case 0x4:
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0xC:
case 0x5:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
break;
case 0xD:
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break;
case 0xE:
case 0x7:
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xA): // StrParameters
case (0xA): // NadirModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(nadirModeControllerParameters.zeta);
break;
case 0x1:
parameterWrapper->set(nadirModeControllerParameters.om);
break;
case 0x2:
parameterWrapper->set(nadirModeControllerParameters.omMax);
break;
case 0x3:
parameterWrapper->set(nadirModeControllerParameters.qiMin);
break;
case 0x4:
parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(nadirModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
break;
case 0x7:
parameterWrapper->set(nadirModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(nadirModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(nadirModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // InertialModeControllerParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(inertialModeControllerParameters.zeta);
break;
case 0x1:
parameterWrapper->set(inertialModeControllerParameters.om);
break;
case 0x2:
parameterWrapper->set(inertialModeControllerParameters.omMax);
break;
case 0x3:
parameterWrapper->set(inertialModeControllerParameters.qiMin);
break;
case 0x4:
parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(inertialModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
break;
case 0x7:
parameterWrapper->set(inertialModeControllerParameters.desatOn);
break;
case 0x8:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(inertialModeControllerParameters.tgtQuat);
break;
case 0xA:
parameterWrapper->set(inertialModeControllerParameters.refRotRate);
break;
case 0xC:
parameterWrapper->set(inertialModeControllerParameters.quatRef);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // StrParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(strParameters.exclusionAngle);
@ -390,7 +501,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0xB): // GpsParameters
case (0xD): // GpsParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
@ -399,22 +510,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0xC): // PtgTargetParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(ptgTargetParameters.latitudeTgt);
break;
case 0x1:
parameterWrapper->set(ptgTargetParameters.longitudeTgt);
break;
case 0x2:
parameterWrapper->set(ptgTargetParameters.altitudeTgt);
break;
default:
return INVALID_IDENTIFIER_ID;
}
break;
case (0xD): // SunModelParameters
case (0xE): // SunModelParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(sunModelParameters.domega);
@ -444,7 +540,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0xE): // KalmanFilterParameters
case (0xF): // KalmanFilterParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
@ -468,7 +564,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0xF): // MagnetorquesParameter
case (0x10): // MagnetorquesParameter
switch (parameterId) {
case 0x0:
parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
@ -492,7 +588,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
return INVALID_IDENTIFIER_ID;
}
break;
case (0x10): // DetumbleParameter
case (0x11): // DetumbleParameter
switch (parameterId) {
case 0x0:
parameterWrapper->set(detumbleParameter.detumblecounter);