sus-vector-fix-new #689
@ -16,6 +16,8 @@ will consitute of a breaking change warranting a new major release:
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# [unreleased]
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- Fix sun vector calculation
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# [v2.0.5] to be released
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- The dual lane assembly transition failed handler started new transitions towards the current mode
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@ -63,9 +63,9 @@ void ObjectFactory::produce(void* args) {
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StorageManagerIF* ipcStore;
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PersistentTmStores persistentStores;
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bool enableHkSets = false;
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#if OBSW_ENABLE_PERIODIC_HK == 1
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enableHkSets = true;
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#endif
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#if OBSW_ENABLE_PERIODIC_HK == 1
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enableHkSets = true;
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#endif
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auto sdcMan = new DummySdCardManager("/tmp");
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ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
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&tmStore, persistentStores);
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit 5eb9ee8bc1e6f8640cbea46febd11e4b92241881
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Subproject commit f80c5980ea5bf84828a22dc6b4985a8747f85df4
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@ -221,6 +221,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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case 0x23:
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parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
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break;
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case 0x24:
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parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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@ -766,6 +766,7 @@ class AcsParameters : public HasParametersIF {
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{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
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0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
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-0.000889232196185857, -0.00168429567131815}};
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float susBrightnessThreshold = 0.7;
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} susHandlingParameters;
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struct GyrHandlingParameters {
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@ -210,49 +210,56 @@ void SensorProcessing::processSus(
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sunIjkModel[0] = cos(eclipticLongitude);
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sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
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sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
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uint64_t susBrightness[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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if (sus0valid) {
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sus0valid = susConverter.checkSunSensorData(sus0Value);
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susBrightness[0] = susConverter.checkSunSensorData(sus0Value);
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}
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if (sus1valid) {
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sus1valid = susConverter.checkSunSensorData(sus1Value);
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susBrightness[1] = susConverter.checkSunSensorData(sus1Value);
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}
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if (sus2valid) {
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sus2valid = susConverter.checkSunSensorData(sus2Value);
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susBrightness[2] = susConverter.checkSunSensorData(sus2Value);
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}
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if (sus3valid) {
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sus3valid = susConverter.checkSunSensorData(sus3Value);
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susBrightness[3] = susConverter.checkSunSensorData(sus3Value);
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}
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if (sus4valid) {
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sus4valid = susConverter.checkSunSensorData(sus4Value);
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susBrightness[4] = susConverter.checkSunSensorData(sus4Value);
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}
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if (sus5valid) {
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sus5valid = susConverter.checkSunSensorData(sus5Value);
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susBrightness[5] = susConverter.checkSunSensorData(sus5Value);
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}
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if (sus6valid) {
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sus6valid = susConverter.checkSunSensorData(sus6Value);
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susBrightness[6] = susConverter.checkSunSensorData(sus6Value);
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}
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if (sus7valid) {
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sus7valid = susConverter.checkSunSensorData(sus7Value);
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susBrightness[7] = susConverter.checkSunSensorData(sus7Value);
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}
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if (sus8valid) {
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sus8valid = susConverter.checkSunSensorData(sus8Value);
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susBrightness[8] = susConverter.checkSunSensorData(sus8Value);
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}
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if (sus9valid) {
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sus9valid = susConverter.checkSunSensorData(sus9Value);
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susBrightness[9] = susConverter.checkSunSensorData(sus9Value);
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}
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if (sus10valid) {
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sus10valid = susConverter.checkSunSensorData(sus10Value);
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susBrightness[10] = susConverter.checkSunSensorData(sus10Value);
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}
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if (sus11valid) {
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sus11valid = susConverter.checkSunSensorData(sus11Value);
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susBrightness[11] = susConverter.checkSunSensorData(sus11Value);
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}
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if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
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!sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
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bool susValid[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
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sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
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bool allInvalid =
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susConverter.checkValidity(susValid, susBrightness, susParameters->susBrightnessThreshold);
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if (allInvalid) {
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{
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PoolReadGuard pg(susDataProcessed);
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if (pg.getReadResult() == returnvalue::OK) {
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float zeroVec[3] = {0.0, 0.0, 0.0};
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double zeroVecD[3] = {0, 0, 0};
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std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
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@ -265,8 +272,8 @@ void SensorProcessing::processSus(
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std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
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std::memcpy(susDataProcessed->susVecTot.value, zeroVecD, 3 * sizeof(double));
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std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVecD, 3 * sizeof(double));
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susDataProcessed->setValidity(false, true);
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std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
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susDataProcessed->sunIjkModel.setValid(true);
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@ -274,118 +281,78 @@ void SensorProcessing::processSus(
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}
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return;
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}
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// WARNING: NOT TRANSFORMED IN BODY FRAME YET
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// Transformation into Geomtry Frame
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float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
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sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
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sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
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sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
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if (sus0valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus0orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
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susParameters->sus0coeffBeta),
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sus0VecBody, 3, 3, 1);
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}
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if (sus1valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus1orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
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susParameters->sus1coeffBeta),
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sus1VecBody, 3, 3, 1);
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}
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if (sus2valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus2orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
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susParameters->sus2coeffBeta),
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sus2VecBody, 3, 3, 1);
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}
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if (sus3valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus3orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
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susParameters->sus3coeffBeta),
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sus3VecBody, 3, 3, 1);
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}
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if (sus4valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus4orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
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susParameters->sus4coeffBeta),
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sus4VecBody, 3, 3, 1);
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}
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if (sus5valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus5orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
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susParameters->sus5coeffBeta),
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sus5VecBody, 3, 3, 1);
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}
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if (sus6valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus6orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
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susParameters->sus6coeffBeta),
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sus6VecBody, 3, 3, 1);
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}
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if (sus7valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus7orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
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susParameters->sus7coeffBeta),
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sus7VecBody, 3, 3, 1);
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}
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if (sus8valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus8orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
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susParameters->sus8coeffBeta),
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sus8VecBody, 3, 3, 1);
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}
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if (sus9valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus9orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
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susParameters->sus9coeffBeta),
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sus9VecBody, 3, 3, 1);
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}
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if (sus10valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus10orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
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susParameters->sus10coeffBeta),
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sus10VecBody, 3, 3, 1);
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}
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if (sus11valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus11orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
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susParameters->sus11coeffBeta),
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sus11VecBody, 3, 3, 1);
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}
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float susVecSensor[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
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{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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float susVecBody[12][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0},
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{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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/* ------ Mean Value: susDirEst ------ */
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bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
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sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
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float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
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sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
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sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
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{sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
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sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
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sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
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{sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
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sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
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sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
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if (susValid[0]) {
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susConverter.calculateSunVector(susVecSensor[0], sus0Value);
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MatrixOperations<float>::multiply(susParameters->sus0orientationMatrix[0], susVecSensor[0],
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susVecBody[0], 3, 3, 1);
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}
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if (susValid[1]) {
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susConverter.calculateSunVector(susVecSensor[1], sus1Value);
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MatrixOperations<float>::multiply(susParameters->sus1orientationMatrix[0], susVecSensor[1],
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susVecBody[1], 3, 3, 1);
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}
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if (susValid[2]) {
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susConverter.calculateSunVector(susVecSensor[2], sus2Value);
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MatrixOperations<float>::multiply(susParameters->sus2orientationMatrix[0], susVecSensor[2],
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susVecBody[2], 3, 3, 1);
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}
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if (susValid[3]) {
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susConverter.calculateSunVector(susVecSensor[3], sus3Value);
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MatrixOperations<float>::multiply(susParameters->sus3orientationMatrix[0], susVecSensor[3],
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susVecBody[3], 3, 3, 1);
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}
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if (susValid[4]) {
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susConverter.calculateSunVector(susVecSensor[4], sus4Value);
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MatrixOperations<float>::multiply(susParameters->sus4orientationMatrix[0], susVecSensor[4],
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susVecBody[4], 3, 3, 1);
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}
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if (susValid[5]) {
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susConverter.calculateSunVector(susVecSensor[5], sus5Value);
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MatrixOperations<float>::multiply(susParameters->sus5orientationMatrix[0], susVecSensor[5],
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susVecBody[5], 3, 3, 1);
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}
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if (susValid[6]) {
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susConverter.calculateSunVector(susVecSensor[6], sus6Value);
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MatrixOperations<float>::multiply(susParameters->sus6orientationMatrix[0], susVecSensor[6],
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susVecBody[6], 3, 3, 1);
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}
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if (susValid[7]) {
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susConverter.calculateSunVector(susVecSensor[7], sus7Value);
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MatrixOperations<float>::multiply(susParameters->sus7orientationMatrix[0], susVecSensor[7],
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susVecBody[7], 3, 3, 1);
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}
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if (susValid[8]) {
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susConverter.calculateSunVector(susVecSensor[8], sus8Value);
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MatrixOperations<float>::multiply(susParameters->sus8orientationMatrix[0], susVecSensor[8],
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susVecBody[8], 3, 3, 1);
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}
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if (susValid[9]) {
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susConverter.calculateSunVector(susVecSensor[9], sus9Value);
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MatrixOperations<float>::multiply(susParameters->sus9orientationMatrix[0], susVecSensor[9],
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susVecBody[9], 3, 3, 1);
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}
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if (susValid[10]) {
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susConverter.calculateSunVector(susVecSensor[10], sus10Value);
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MatrixOperations<float>::multiply(susParameters->sus10orientationMatrix[0], susVecSensor[10],
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susVecBody[10], 3, 3, 1);
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}
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if (susValid[11]) {
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susConverter.calculateSunVector(susVecSensor[11], sus11Value);
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MatrixOperations<float>::multiply(susParameters->sus11orientationMatrix[0], susVecSensor[11],
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susVecBody[11], 3, 3, 1);
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}
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double susMeanValue[3] = {0, 0, 0};
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for (uint8_t i = 0; i < 12; i++) {
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if (validIds[i]) {
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susMeanValue[0] += susVecBody[0][i];
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susMeanValue[1] += susVecBody[1][i];
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susMeanValue[2] += susVecBody[2][i];
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}
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susMeanValue[0] += susVecBody[i][0];
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susMeanValue[1] += susVecBody[i][1];
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susMeanValue[2] += susVecBody[i][2];
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}
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double susVecTot[3] = {0.0, 0.0, 0.0};
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VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
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@ -406,29 +373,29 @@ void SensorProcessing::processSus(
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{
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PoolReadGuard pg(susDataProcessed);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus0vec.value, susVecBody[0], 3 * sizeof(float));
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susDataProcessed->sus0vec.setValid(sus0valid);
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std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus1vec.value, susVecBody[1], 3 * sizeof(float));
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susDataProcessed->sus1vec.setValid(sus1valid);
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std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus2vec.value, susVecBody[2], 3 * sizeof(float));
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susDataProcessed->sus2vec.setValid(sus2valid);
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std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus3vec.value, susVecBody[3], 3 * sizeof(float));
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susDataProcessed->sus3vec.setValid(sus3valid);
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std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus4vec.value, susVecBody[4], 3 * sizeof(float));
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susDataProcessed->sus4vec.setValid(sus4valid);
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std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus5vec.value, susVecBody[5], 3 * sizeof(float));
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susDataProcessed->sus5vec.setValid(sus5valid);
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std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus6vec.value, susVecBody[6], 3 * sizeof(float));
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susDataProcessed->sus6vec.setValid(sus6valid);
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std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus7vec.value, susVecBody[7], 3 * sizeof(float));
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susDataProcessed->sus7vec.setValid(sus7valid);
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std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus8vec.value, susVecBody[8], 3 * sizeof(float));
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susDataProcessed->sus8vec.setValid(sus8valid);
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std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
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std::memcpy(susDataProcessed->sus9vec.value, susVecBody[9], 3 * sizeof(float));
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susDataProcessed->sus9vec.setValid(sus9valid);
|
||||
std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
|
||||
std::memcpy(susDataProcessed->sus10vec.value, susVecBody[10], 3 * sizeof(float));
|
||||
susDataProcessed->sus10vec.setValid(sus10valid);
|
||||
std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 3 * sizeof(float));
|
||||
std::memcpy(susDataProcessed->sus11vec.value, susVecBody[11], 3 * sizeof(float));
|
||||
susDataProcessed->sus11vec.setValid(sus11valid);
|
||||
std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
|
||||
susDataProcessed->susVecTot.setValid(true);
|
||||
|
||||
@ -1,121 +1,64 @@
|
||||
#include "SusConverter.h"
|
||||
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVector.h>
|
||||
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
|
||||
if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
|
||||
uint64_t SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
|
||||
if (susChannel[0] <= SUS_CHANNEL_VALUE_LOW || susChannel[0] > SUS_CHANNEL_VALUE_HIGH ||
|
||||
susChannel[0] > susChannel[GNDREF]) {
|
||||
return false;
|
||||
return 0;
|
||||
}
|
||||
if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
|
||||
if (susChannel[1] <= SUS_CHANNEL_VALUE_LOW || susChannel[1] > SUS_CHANNEL_VALUE_HIGH ||
|
||||
susChannel[1] > susChannel[GNDREF]) {
|
||||
return false;
|
||||
return 0;
|
||||
};
|
||||
if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
|
||||
if (susChannel[2] <= SUS_CHANNEL_VALUE_LOW || susChannel[2] > SUS_CHANNEL_VALUE_HIGH ||
|
||||
susChannel[2] > susChannel[GNDREF]) {
|
||||
return false;
|
||||
return 0;
|
||||
};
|
||||
if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
|
||||
if (susChannel[3] <= SUS_CHANNEL_VALUE_LOW || susChannel[3] > SUS_CHANNEL_VALUE_HIGH ||
|
||||
susChannel[3] > susChannel[GNDREF]) {
|
||||
return false;
|
||||
return 0;
|
||||
};
|
||||
|
||||
susChannelValueSum =
|
||||
uint64_t susChannelValueSum =
|
||||
4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
|
||||
if ((susChannelValueSum < susChannelValueSumHigh) &&
|
||||
(susChannelValueSum > susChannelValueSumLow)) {
|
||||
return false;
|
||||
if (susChannelValueSum < SUS_ALBEDO_CHECK) {
|
||||
return 0;
|
||||
};
|
||||
return true;
|
||||
return susChannelValueSum;
|
||||
}
|
||||
|
||||
void SusConverter::calcAngle(const uint16_t susChannel[6]) {
|
||||
float xout, yout;
|
||||
float s = 0.03; // s=[mm] gap between diodes
|
||||
uint8_t d = 5; // d=[mm] edge length of the quadratic aperture
|
||||
uint8_t h = 1; // h=[mm] distance between diodes and aperture
|
||||
int ch0, ch1, ch2, ch3;
|
||||
bool SusConverter::checkValidity(bool* susValid, const uint64_t brightness[12],
|
||||
const float threshold) {
|
||||
uint8_t maxBrightness = 0;
|
||||
VectorOperations<uint64_t>::maxValue(brightness, 12, &maxBrightness);
|
||||
if (brightness[maxBrightness] == 0) {
|
||||
return true;
|
||||
}
|
||||
for (uint8_t idx = 0; idx < 12; idx++) {
|
||||
if ((idx != maxBrightness) and (brightness[idx] < threshold * brightness[maxBrightness])) {
|
||||
susValid[idx] = false;
|
||||
continue;
|
||||
}
|
||||
susValid[idx] = true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void SusConverter::calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]) {
|
||||
// Substract measurement values from GNDREF zero current threshold
|
||||
ch0 = susChannel[GNDREF] - susChannel[0];
|
||||
ch1 = susChannel[GNDREF] - susChannel[1];
|
||||
ch2 = susChannel[GNDREF] - susChannel[2];
|
||||
ch3 = susChannel[GNDREF] - susChannel[3];
|
||||
float ch0 = susChannel[GNDREF] - susChannel[0];
|
||||
float ch1 = susChannel[GNDREF] - susChannel[1];
|
||||
float ch2 = susChannel[GNDREF] - susChannel[2];
|
||||
float ch3 = susChannel[GNDREF] - susChannel[3];
|
||||
|
||||
// Calculation of x and y
|
||||
xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
||||
yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
||||
float xout = ((D - S) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
||||
float yout = ((D - S) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
||||
|
||||
// Calculation of the angles
|
||||
alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI); //[°]
|
||||
alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI); //[°]
|
||||
}
|
||||
|
||||
void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
|
||||
uint8_t index, k, l;
|
||||
|
||||
// while loop iterates above all calibration cells to use the different calibration functions in
|
||||
// each cell
|
||||
k = 0;
|
||||
while (k < 3) {
|
||||
k++;
|
||||
l = 0;
|
||||
while (l < 3) {
|
||||
l++;
|
||||
// if-condition to check in which cell the data point has to be
|
||||
if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3.)) - halfCellWidth) &&
|
||||
alphaBetaRaw[0] < ((completeCellWidth * (k / 3.)) - halfCellWidth)) &&
|
||||
(alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3.)) - halfCellWidth) &&
|
||||
alphaBetaRaw[1] < ((completeCellWidth * (l / 3.)) - halfCellWidth))) {
|
||||
index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
|
||||
alphaBetaCalibrated[0] =
|
||||
coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
|
||||
coeffAlpha[index][2] * alphaBetaRaw[1] +
|
||||
coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
|
||||
coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
|
||||
coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
|
||||
coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
|
||||
coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
|
||||
coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
|
||||
coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
|
||||
alphaBetaCalibrated[1] =
|
||||
coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
|
||||
coeffBeta[index][2] * alphaBetaRaw[1] +
|
||||
coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
|
||||
coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
|
||||
coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
|
||||
coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
|
||||
coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
|
||||
coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
|
||||
coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1]; //[°]
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float* SusConverter::calculateSunVector() {
|
||||
// Calculate the normalized Sun Vector
|
||||
sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
|
||||
(sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
|
||||
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
|
||||
sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
|
||||
(sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
|
||||
powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
|
||||
sunVectorSensorFrame[2] =
|
||||
-(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
|
||||
powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
|
||||
|
||||
return sunVectorSensorFrame;
|
||||
}
|
||||
|
||||
float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
|
||||
const float coeffAlpha[9][10],
|
||||
const float coeffBeta[9][10]) {
|
||||
calcAngle(susChannel);
|
||||
calibration(coeffAlpha, coeffBeta);
|
||||
return calculateSunVector();
|
||||
sunVectorSensorFrame[0] = -xout;
|
||||
sunVectorSensorFrame[1] = -yout;
|
||||
sunVectorSensorFrame[2] = H;
|
||||
VectorOperations<float>::normalize(sunVectorSensorFrame, sunVectorSensorFrame, 3);
|
||||
}
|
||||
|
||||
@ -1,8 +1,4 @@
|
||||
#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
|
||||
#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
|
||||
|
||||
#include <fsfw/datapoollocal/LocalPoolVector.h>
|
||||
#include <stdint.h>
|
||||
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
||||
|
||||
#include "AcsParameters.h"
|
||||
|
||||
@ -10,41 +6,26 @@ class SusConverter {
|
||||
public:
|
||||
SusConverter() {}
|
||||
|
||||
bool checkSunSensorData(const uint16_t susChannel[6]);
|
||||
|
||||
void calcAngle(const uint16_t susChannel[6]);
|
||||
void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
|
||||
float* calculateSunVector();
|
||||
|
||||
float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
|
||||
const float coeffBeta[9][10]);
|
||||
uint64_t checkSunSensorData(const uint16_t susChannel[6]);
|
||||
bool checkValidity(bool* susValid, const uint64_t brightness[12], const float threshold);
|
||||
void calculateSunVector(float* sunVectorSensorFrame, const uint16_t susChannel[6]);
|
||||
|
||||
private:
|
||||
float alphaBetaRaw[2]; //[°]
|
||||
float alphaBetaCalibrated[2]; //[°]
|
||||
float sunVectorSensorFrame[3]; //[-]
|
||||
|
||||
bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
|
||||
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
|
||||
returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
|
||||
|
||||
static const uint8_t GNDREF = 4;
|
||||
uint16_t susChannelValueCheckHigh =
|
||||
4096; //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
|
||||
uint8_t susChannelValueCheckLow =
|
||||
0; //[Bit]low borderline for the channel values of one sun sensor for validity Check
|
||||
uint16_t susChannelValueSumHigh =
|
||||
100; // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
|
||||
// the reflection of sunlight from the moon/earth
|
||||
uint8_t susChannelValueSumLow =
|
||||
0; //[Bit]low borderline for check if the sun sensor is illuminated
|
||||
// by the sun or by the reflection of sunlight from the moon/earth
|
||||
uint8_t completeCellWidth = 140,
|
||||
halfCellWidth = 70; //[°] Width of the calibration cells --> necessary for checking in
|
||||
// which cell a data point should be
|
||||
uint16_t susChannelValueSum = 0;
|
||||
// =2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
|
||||
static constexpr uint16_t SUS_CHANNEL_VALUE_HIGH = 4096;
|
||||
// [Bit]low borderline for the channel values of one sun sensor for validity Check
|
||||
static constexpr uint8_t SUS_CHANNEL_VALUE_LOW = 0;
|
||||
// 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by the
|
||||
// reflection of sunlight from the moon/earth
|
||||
static constexpr uint16_t SUS_ALBEDO_CHECK = 1000;
|
||||
// [Bit]low borderline for check if the sun sensor is illuminated by the sun or by the reflection
|
||||
// of sunlight from the moon/earth
|
||||
static constexpr uint8_t SUS_CHANNEL_SUM_LOW = 0;
|
||||
|
||||
static constexpr float S = 0.03; // S=[mm] gap between diodes
|
||||
static constexpr float D = 5; // D=[mm] edge length of the quadratic aperture
|
||||
static constexpr float H = 1; // H=[mm] distance between diodes and aperture
|
||||
|
||||
AcsParameters acsParameters;
|
||||
};
|
||||
|
||||
#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user