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ACS Ctrl Bug Bash #439

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muellerr merged 42 commits from acs-bug-bash into develop 2023-03-10 19:21:19 +01:00
Conversation 0 Commits 42 Files Changed 23 +101 -101
1 changed files with 101 additions and 101 deletions
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Showing only changes of commit 17a1a5a655 - Show all commits

202
mission/controller/acs/AcsParameters.cpp
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@ -30,19 +30,19 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x2: // InertiaEIVE
switch (parameterId) {
case 0x0:
parameterWrapper->set(inertiaEIVE.inertiaMatrix);
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrix);
break;
case 0x1:
parameterWrapper->set(inertiaEIVE.inertiaMatrixDeployed);
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixDeployed);
break;
case 0x2:
parameterWrapper->set(inertiaEIVE.inertiaMatrixUndeployed);
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixUndeployed);
break;
case 0x3:
parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel1);
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel1);
break;
case 0x4:
parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel3);
parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel3);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -51,58 +51,58 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x3: // MgmHandlingParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
parameterWrapper->setVector(mgmHandlingParameters.mgm0hardIronOffset);
break;
case 0x6:
parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
parameterWrapper->setVector(mgmHandlingParameters.mgm1hardIronOffset);
break;
case 0x7:
parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
parameterWrapper->setVector(mgmHandlingParameters.mgm2hardIronOffset);
break;
case 0x8:
parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
parameterWrapper->setVector(mgmHandlingParameters.mgm3hardIronOffset);
break;
case 0x9:
parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
parameterWrapper->setVector(mgmHandlingParameters.mgm4hardIronOffset);
break;
case 0xA:
parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm0softIronInverse);
break;
case 0xB:
parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm1softIronInverse);
break;
case 0xC:
parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm2softIronInverse);
break;
case 0xD:
parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm3softIronInverse);
break;
case 0xE:
parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
parameterWrapper->setMatrix(mgmHandlingParameters.mgm4softIronInverse);
break;
case 0xF:
parameterWrapper->set(mgmHandlingParameters.mgm02variance);
parameterWrapper->setVector(mgmHandlingParameters.mgm02variance);
break;
case 0x10:
parameterWrapper->set(mgmHandlingParameters.mgm13variance);
parameterWrapper->setVector(mgmHandlingParameters.mgm13variance);
break;
case 0x11:
parameterWrapper->set(mgmHandlingParameters.mgm4variance);
parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -111,112 +111,112 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x4: // SusHandlingParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus4orientationMatrix);
break;
case 0x5:
parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus5orientationMatrix);
break;
case 0x6:
parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus6orientationMatrix);
break;
case 0x7:
parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus7orientationMatrix);
break;
case 0x8:
parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus8orientationMatrix);
break;
case 0x9:
parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus9orientationMatrix);
break;
case 0xA:
parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus10orientationMatrix);
break;
case 0xB:
parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
parameterWrapper->setMatrix(susHandlingParameters.sus11orientationMatrix);
break;
case 0xC:
parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus0coeffAlpha);
break;
case 0xD:
parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus0coeffBeta);
break;
case 0xE:
parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus1coeffAlpha);
break;
case 0xF:
parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus1coeffBeta);
break;
case 0x10:
parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus2coeffAlpha);
break;
case 0x11:
parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus2coeffBeta);
break;
case 0x12:
parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus3coeffAlpha);
break;
case 0x13:
parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus3coeffBeta);
break;
case 0x14:
parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus4coeffAlpha);
break;
case 0x15:
parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus4coeffBeta);
break;
case 0x16:
parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus5coeffAlpha);
break;
case 0x17:
parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus5coeffBeta);
break;
case 0x18:
parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus6coeffAlpha);
break;
case 0x19:
parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus6coeffBeta);
break;
case 0x1A:
parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus7coeffAlpha);
break;
case 0x1B:
parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus7coeffBeta);
break;
case 0x1C:
parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus8coeffAlpha);
break;
case 0x1D:
parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus8coeffBeta);
break;
case 0x1E:
parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus9coeffAlpha);
break;
case 0x1F:
parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus9coeffBeta);
break;
case 0x20:
parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus10coeffAlpha);
break;
case 0x21:
parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus10coeffBeta);
break;
case 0x22:
parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
parameterWrapper->setMatrix(susHandlingParameters.sus11coeffAlpha);
break;
case 0x23:
parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -225,34 +225,34 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x5): // GyrHandlingParameters
switch (parameterId) {
case 0x0:
parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
parameterWrapper->setMatrix(gyrHandlingParameters.gyr0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
parameterWrapper->setMatrix(gyrHandlingParameters.gyr1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
parameterWrapper->setMatrix(gyrHandlingParameters.gyr2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
parameterWrapper->setMatrix(gyrHandlingParameters.gyr3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(gyrHandlingParameters.gyr0bias);
parameterWrapper->setVector(gyrHandlingParameters.gyr0bias);
break;
case 0x5:
parameterWrapper->set(gyrHandlingParameters.gyr1bias);
parameterWrapper->setVector(gyrHandlingParameters.gyr1bias);
break;
case 0x6:
parameterWrapper->set(gyrHandlingParameters.gyr2bias);
parameterWrapper->setVector(gyrHandlingParameters.gyr2bias);
break;
case 0x7:
parameterWrapper->set(gyrHandlingParameters.gyr3bias);
parameterWrapper->setVector(gyrHandlingParameters.gyr3bias);
break;
case 0x8:
parameterWrapper->set(gyrHandlingParameters.gyr02variance);
parameterWrapper->setVector(gyrHandlingParameters.gyr02variance);
break;
case 0x9:
parameterWrapper->set(gyrHandlingParameters.gyr13variance);
parameterWrapper->setVector(gyrHandlingParameters.gyr13variance);
break;
case 0xA:
parameterWrapper->set(gyrHandlingParameters.preferAdis);
@ -288,25 +288,25 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x7): // RwMatrices
switch (parameterId) {
case 0x0:
parameterWrapper->set(rwMatrices.alignmentMatrix);
parameterWrapper->setMatrix(rwMatrices.alignmentMatrix);
break;
case 0x1:
parameterWrapper->set(rwMatrices.pseudoInverse);
parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
break;
case 0x2:
parameterWrapper->set(rwMatrices.without1);
parameterWrapper->setMatrix(rwMatrices.without1);
break;
case 0x3:
parameterWrapper->set(rwMatrices.without2);
parameterWrapper->setMatrix(rwMatrices.without2);
break;
case 0x4:
parameterWrapper->set(rwMatrices.without3);
parameterWrapper->setMatrix(rwMatrices.without3);
break;
case 0x5:
parameterWrapper->set(rwMatrices.without4);
parameterWrapper->setMatrix(rwMatrices.without4);
break;
case 0x6:
parameterWrapper->set(rwMatrices.nullspace);
parameterWrapper->setVector(rwMatrices.nullspace);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -330,13 +330,13 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
break;
case 0x5:
parameterWrapper->set(safeModeControllerParameters.sunTargetDirLeop);
parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
break;
case 0x6:
parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
break;
case 0x7:
parameterWrapper->set(safeModeControllerParameters.satRateRef);
parameterWrapper->setVector(safeModeControllerParameters.satRateRef);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -360,7 +360,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
@ -394,7 +394,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
@ -406,13 +406,13 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.refDirection);
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.quatRef);
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
@ -460,7 +460,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
@ -472,13 +472,13 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.refDirection);
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.refRotRate);
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break;
case 0xB:
parameterWrapper->set(targetModeControllerParameters.quatRef);
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
@ -514,7 +514,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(nadirModeControllerParameters.desatMomentumRef);
parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
@ -526,10 +526,10 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(nadirModeControllerParameters.refDirection);
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break;
case 0xA:
parameterWrapper->set(nadirModeControllerParameters.quatRef);
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break;
case 0xC:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
@ -556,7 +556,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
break;
case 0x5:
parameterWrapper->set(inertialModeControllerParameters.desatMomentumRef);
parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
break;
case 0x6:
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
@ -568,13 +568,13 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0x9:
parameterWrapper->set(inertialModeControllerParameters.tgtQuat);
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break;
case 0xA:
parameterWrapper->set(inertialModeControllerParameters.refRotRate);
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break;
case 0xC:
parameterWrapper->set(inertialModeControllerParameters.quatRef);
parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -586,7 +586,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(strParameters.exclusionAngle);
break;
case 0x1:
parameterWrapper->set(strParameters.boresightAxis);
parameterWrapper->setVector(strParameters.boresightAxis);
break;
default:
return INVALID_IDENTIFIER_ID;
@ -658,19 +658,19 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x12): // MagnetorquesParameter
switch (parameterId) {
case 0x0:
parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
parameterWrapper->setMatrix(magnetorquesParameter.mtq0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
parameterWrapper->setMatrix(magnetorquesParameter.mtq1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
parameterWrapper->setMatrix(magnetorquesParameter.mtq2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
parameterWrapper->setMatrix(magnetorquesParameter.alignmentMatrixMtq);
break;
case 0x4:
parameterWrapper->set(magnetorquesParameter.inverseAlignment);
parameterWrapper->setMatrix(magnetorquesParameter.inverseAlignment);
break;
case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax);