eive/eive-obsw
eive/eive-obsw
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Swap PL and PS I2C #725

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muellerr merged 20 commits from swap-pl-ps-i2c into main 2023-07-06 15:05:54 +02:00
Conversation 0 Commits 20 Files Changed 31 +34 -33
3 changed files with 34 additions and 33 deletions
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5
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- SUS total vector was not reset to being a zero vector during eclipse due to a wrong memcpy
length.
meggert marked this conversation as resolved Outdated
meggert commented 2023-07-06 10:50:48 +02:00
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You might wanna check for typos ins this sentence.

You might wanna check for typos ins this sentence.
muellerr commented 2023-07-06 14:28:58 +02:00
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there are now typos in there

there are now typos in there
muellerr commented 2023-07-06 14:33:48 +02:00
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all typos ins now fixed

all typos ins now fixed
# [v4.0.0] to be released # [v4.0.0] to be released
- `eive-tmtc` version v4.0.0 - `eive-tmtc` version v4.0.0

59
mission/controller/acs/SensorProcessing.cpp
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@ -30,10 +30,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
// ------------------------------------------------ // ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0}; double magIgrfModel[3] = {0.0, 0.0, 0.0};
if (gpsValid) { if (gpsValid) {
// Should be existing class object which will be called and modified here.
Igrf13Model igrf13; Igrf13Model igrf13;
// So the line above should not be done here. Update: Can be done here as long updated coffs
// stored in acsParameters ?
igrf13.schmidtNormalization(); igrf13.schmidtNormalization();
igrf13.updateCoeffGH(timeOfMgmMeasurement); igrf13.updateCoeffGH(timeOfMgmMeasurement);
// maybe put a condition here, to only update after a full day, this // maybe put a condition here, to only update after a full day, this
@ -45,14 +42,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
{ {
PoolReadGuard pg(mgmDataProcessed); PoolReadGuard pg(mgmDataProcessed);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
float zeroVec[3] = {0.0, 0.0, 0.0}; std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float)); std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
mgmDataProcessed->setValidity(false, true); mgmDataProcessed->setValidity(false, true);
std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double)); std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
mgmDataProcessed->magIgrfModel.setValid(gpsValid); mgmDataProcessed->magIgrfModel.setValid(gpsValid);
@ -252,21 +248,20 @@ void SensorProcessing::processSus(
{ {
PoolReadGuard pg(susDataProcessed); PoolReadGuard pg(susDataProcessed);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
float zeroVec[3] = {0.0, 0.0, 0.0}; std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float));
std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float)); std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
susDataProcessed->setValidity(false, true); susDataProcessed->setValidity(false, true);
std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double)); std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
susDataProcessed->sunIjkModel.setValid(true); susDataProcessed->sunIjkModel.setValid(true);
@ -274,7 +269,6 @@ void SensorProcessing::processSus(
} }
return; return;
} }
// WARNING: NOT TRANSFORMED IN BODY FRAME YET
// Transformation into Geomtry Frame // Transformation into Geomtry Frame
float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0}, float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0}, sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
@ -459,12 +453,11 @@ void SensorProcessing::processGyr(
{ {
PoolReadGuard pg(gyrDataProcessed); PoolReadGuard pg(gyrDataProcessed);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
double zeroVector[3] = {0.0, 0.0, 0.0}; std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double)); std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double)); std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double)); std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double)); std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double));
std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
gyrDataProcessed->setValidity(false, true); gyrDataProcessed->setValidity(false, true);
} }
} }

3
mission/controller/acs/SensorProcessing.h
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@ -23,6 +23,9 @@ class SensorProcessing {
acsctrl::GpsDataProcessed *gpsDataProcessed, acsctrl::GpsDataProcessed *gpsDataProcessed,
const AcsParameters *acsParameters); // Will call protected functions const AcsParameters *acsParameters); // Will call protected functions
private: private:
static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
protected: protected:
// short description needed for every function // short description needed for every function
void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid, void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,