eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

ACS Ptg Ctrl Fixes #643

Merged
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 +23 -13
5 changed files with 23 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit e04313b9f3 - Show all commits

12
mission/controller/AcsController.cpp
View File

@ -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
View File

@ -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
View File

@ -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);

7
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -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) {

6
mission/controller/acs/control/SafeCtrl.h
View File

@ -12,9 +12,9 @@ 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);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, double *magMomB, const double *quatBI, const double *sunDirRefB, double *magMomB,