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Fixed units in ACS Control Laws Safe and Detumble #421

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muellerr merged 4 commits from acs-units-fix into develop 2023-03-02 18:28:40 +01:00
Conversation 0 Commits 4 Files Changed 5 +47 -53
5 changed files with 47 additions and 53 deletions
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1
CHANGELOG.md
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@ -26,6 +26,7 @@ will consitute of a breaking change warranting a new major release:
- IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
- Set RM3100 dataset to valid.
- Fixed units in calculation of ACS control laws safe and detumble.
## Added

19
mission/controller/AcsController.cpp
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@ -157,20 +157,23 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
// if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
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);
result = 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);
} else {
safeCtrl.safeNoMekf(
result = 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);
sunTargetDir, satRateSafe, &errAng, magMomMtq);
}
if (result == returnvalue::FAILED) {
// ToDo: this should never ever happen or we are dead. prob add an event at least
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);

14
mission/controller/acs/control/Detumble.cpp
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@ -1,11 +1,3 @@
/*
* Detumble.cpp
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
#include "Detumble.h"
#include <fsfw/globalfunctions/constants.h>
@ -31,6 +23,12 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
if (!magRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
// change unit from uT to T
double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
double gain = detumbleParameter->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);

54
mission/controller/acs/control/SafeCtrl.cpp
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@ -32,15 +32,13 @@ 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) {
double *outputAngle, double *outputMagMomB) {
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;
double kRate = safeModeControllerParameters->k_rate_mekf;
double 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}};
@ -49,22 +47,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
double crossSun[3] = {0, 0, 0};
// change unit from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
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);
double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
double 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;
double scalarFac = kAlign * alpha / normCrossSun;
VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
double rateSafeMode[3] = {0, 0, 0};
@ -82,23 +80,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
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 GYRs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
ReturnValue_t 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) {
double *satRateRef, double *outputAngle, double *outputMagMomB) {
// Check for invalid Inputs
if (!susDirBValid || !magFieldBValid || !magRateBValid) {
*outputValid = false;
return;
return returnvalue::FAILED;
}
// change unit from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
@ -108,13 +105,11 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
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;
double dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
double dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
double rateFactor = 1 - pow(cosAngleSunMag, 2);
double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
// Full rate or estimate
double estSatRate[3] = {0, 0, 0};
@ -130,7 +125,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
* is sufficiently large */
double angleSunMag = acos(cosAngleSunMag);
if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
return;
return returnvalue::FAILED;
}
// Rate for Torque Calculation
@ -138,9 +133,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
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 kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
double kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
double crossSusSunRef[3] = {0, 0, 0};
@ -171,5 +165,5 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
*outputAngle = angleAlignErr;
*outputValid = true;
return returnvalue::OK;
}

12
mission/controller/acs/control/SafeCtrl.h
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@ -23,14 +23,12 @@ class SafeCtrl {
bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
double *satRateMekf, bool rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputAngle, double *outputMagMomB, bool *outputValid);
double *outputAngle, double *outputMagMomB);
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
ReturnValue_t 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);
protected:
private: