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ACS Ptg Ctrl Fixes #643

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muellerr merged 35 commits from acs-ptg-ctrl-fixes-2 into v3.0.0-dev 2023-06-07 11:49:10 +02:00
Conversation 0 Commits 35 Files Changed 15 +315 -280
meggert commented 2023-05-23 15:37:48 +02:00
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meggert added this to the v3.0.0 milestone 2023-05-23 15:37:48 +02:00
meggert added 17 commits 2023-05-23 15:37:50 +02:00
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8a65aca7b8 someone seemed to like pointers way too much
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7eeece6934 Merge branch 'v2.1.0-dev' into acs-ptg-ctrl-fixes-2
meggert added 1 commit 2023-05-26 09:57:28 +02:00
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de18ebfbe0 fixed error angle being calculated but not returned
muellerr changed target branch from v2.1.0-dev to v3.0.0-dev 2023-05-31 10:33:58 +02:00
meggert added 1 commit 2023-06-01 09:11:48 +02:00
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ffe419e1ab Merge branch 'v3.0.0-dev' into acs-ptg-ctrl-fixes-2
meggert added 2 commits 2023-06-01 09:36:50 +02:00
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3750f1ac57 frmt
meggert added 1 commit 2023-06-01 16:05:03 +02:00
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c6664c5cbf fixed RW scale for angular momentum calculation
meggert added 1 commit 2023-06-01 17:11:53 +02:00
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0fe7b256ec another RW speed scaling fix
meggert added 1 commit 2023-06-02 09:36:10 +02:00
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4aca7a91e3 fixed more abs
meggert added 1 commit 2023-06-02 11:02:30 +02:00
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f8d9925785 this shouldnt be needed
meggert added 1 commit 2023-06-02 13:29:05 +02:00
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bd15d7b0e2 fixed calculation of rotational rate for ptgCtrl which also is used for idle now
meggert added 1 commit 2023-06-02 13:29:29 +02:00
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487b6bf690 frmt
meggert added 1 commit 2023-06-02 14:22:25 +02:00
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c64ea7f7e6 fixed nullspace rwSpd range
meggert added 1 commit 2023-06-02 17:38:06 +02:00
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099eb488ae who needs comments anyways
meggert added 1 commit 2023-06-02 17:41:30 +02:00
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a58f51ee91 small fixes
meggert added 1 commit 2023-06-02 17:45:12 +02:00
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6915f0e003 changelog
meggert changed title from WIP: ACS Ptg Ctrl Fixes to ACS Ptg Ctrl Fixes 2023-06-02 18:00:12 +02:00
meggert requested review from muellerr 2023-06-02 18:00:22 +02:00
muellerr added 1 commit 2023-06-06 11:13:42 +02:00
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Merge branch 'v3.0.0-dev' into acs-ptg-ctrl-fixes-2
muellerr reviewed 2023-06-06 11:20:02 +02:00
mission/controller/acs/AcsParameters.cpp
@ -379,3 +379,3 @@
break;
case 0x5:
parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);
muellerr commented 2023-06-06 11:19:50 +02:00
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This looks like something which can break the MIB. Can it? If it does, I'd still be okay with this for v3.0.0 if the current MIB is not able to manipulate the parameter anyway.

This looks like something which can break the MIB. Can it? If it does, I'd still be okay with this for v3.0.0 if the current MIB is not able to manipulate the parameter anyway.
muellerr commented 2023-06-06 11:41:47 +02:00
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after discussion: The operator manually specifies the parameter ID, so a release into v3.0.0 is okay.

after discussion: The operator manually specifies the parameter ID, so a release into v3.0.0 is okay.
muellerr reviewed 2023-06-06 11:22:30 +02:00
mission/controller/acs/ActuatorCmd.cpp Outdated
@ -34,0 +25,4 @@
const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque,
int32_t *rwCmdSpeed) {
// concentrate RW speed values (in 0.1 [RPM]) in vector
muellerr commented 2023-06-06 11:22:30 +02:00
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gather or group would probably be a better word here

gather or group would probably be a better word here
meggert commented 2023-06-07 09:22:04 +02:00
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fixed

fixed
muellerr reviewed 2023-06-06 11:25:52 +02:00
mission/controller/acs/Guidance.cpp Outdated
@ -531,10 +518,6 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
return returnvalue::OK;
} else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
muellerr commented 2023-06-06 11:25:52 +02:00
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Comment not necessary anymore: This can not happen anymore?

Comment not necessary anymore: This can not happen anymore?
meggert commented 2023-06-07 09:15:05 +02:00
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This could happen, which is why a rtval::FAILED is returned. This will then instantly return performPointingCtrl(), i. e. the controller will not calculate anything or command anything. Therefore, the discussion in this comment is purely academic and not needed.
Also, I would hope the RW FDIR catches this before it gets to here, as a fallback to safe is needed. We could also use the triggered event to set the RW Ass to faulty, if we wanted to.

This could happen, which is why a rtval::FAILED is returned. This will then instantly return performPointingCtrl(), i. e. the controller will not calculate anything or command anything. Therefore, the discussion in this comment is purely academic and not needed. Also, I would hope the RW FDIR catches this before it gets to here, as a fallback to safe is needed. We could also use the triggered event to set the RW Ass to faulty, if we wanted to.
meggert added 2 commits 2023-06-07 09:21:27 +02:00
muellerr added 1 commit 2023-06-07 11:48:01 +02:00
EIVE/eive-obsw/pipeline/pr-v3.0.0-dev Build started... Details
376c359d6e Merge branch 'v3.0.0-dev' into acs-ptg-ctrl-fixes-2
muellerr approved these changes 2023-06-07 11:49:02 +02:00
muellerr merged commit de35764ede into v3.0.0-dev 2023-06-07 11:49:10 +02:00
muellerr deleted branch acs-ptg-ctrl-fixes-2 2023-06-07 11:49:11 +02:00
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Reference: eive/eive-obsw#643
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