eive/eive-obsw
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WIP: Fixes for Pointing Controller #616

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meggert wants to merge 49 commits from acs-ptg-ctrl-fixes into v2.1.0-dev
pull from: acs-ptg-ctrl-fixes
merge into: eive:v2.1.0-dev
Conversation 1 Commits 49 Files Changed 30 +23 -13
5 changed files with 23 additions and 13 deletions
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Showing only changes of commit 727d58209c - Show all commits

12
mission/controller/AcsController.cpp
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@ -169,7 +169,7 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir); guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy( acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.useMekf, acsParameters.safeModeControllerParameters.useMekf,
@ -205,6 +205,9 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1); safeCtrlFailure(0, 1);
break; break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performSafe" << std::endl;
break;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
@ -259,7 +262,7 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_RECOVERY); triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
uint8_t safeCtrlStrat = detumble.detumbleStrategy( acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw); acsParameters.detumbleParameter.useFullDetumbleLaw);
@ -279,6 +282,9 @@ void AcsController::performDetumble() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1); safeCtrlFailure(0, 1);
break; break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performDetumble" << std::endl;
break;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
@ -477,7 +483,7 @@ void AcsController::performPointingCtrl() {
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
default: default:
sif::error << "AcsController: Invalid mode for performPointingCtrl"; sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
break; break;
} }

6
mission/controller/acs/control/Detumble.cpp
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@ -7,8 +7,10 @@ Detumble::Detumble() {}
Detumble::~Detumble() {} Detumble::~Detumble() {}
uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
const bool magFieldRateValid, const bool useFullDetumbleLaw) { const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (satRotRateValid and useFullDetumbleLaw) { } else if (satRotRateValid and useFullDetumbleLaw) {

5
mission/controller/acs/control/Detumble.h
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@ -11,8 +11,9 @@ class Detumble {
Detumble(); Detumble();
virtual ~Detumble(); virtual ~Detumble();
uint8_t detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const bool magFieldRateValid, const bool useFullDetumbleLaw); const bool magFieldRateValid,
const bool useFullDetumbleLaw);
void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB, void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
double gain); double gain);

5
mission/controller/acs/control/SafeCtrl.cpp
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@ -9,9 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {} SafeCtrl::~SafeCtrl() {}
uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid, const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled) { const uint8_t mekfEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) { } else if (mekfEnabled and mekfValid) {

2
mission/controller/acs/control/SafeCtrl.h
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@ -12,7 +12,7 @@ class SafeCtrl {
SafeCtrl(AcsParameters *acsParameters_); SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl(); virtual ~SafeCtrl();
uint8_t safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid, const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled); const uint8_t mekfEnabled, const uint8_t dampingEnabled);