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New Safe Mode Controller #748

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muellerr merged 31 commits from acs-safe-flp-v2 into main 2023-07-26 11:08:12 +02:00
Conversation 0 Commits 31 Files Changed 15 +400 -73
meggert commented 2023-07-19 11:48:41 +02:00
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requires: eive/eive-tmtc#221
and appropriate changes for the MIB

requires: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/221 and appropriate changes for the MIB
meggert added this to the v6.2.0 milestone 2023-07-19 11:48:41 +02:00
meggert added 1 commit 2023-07-19 11:48:42 +02:00
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fbff57dd45 filter galore
meggert changed title from New Safe Mode Controller to WIP: New Safe Mode Controller 2023-07-19 11:48:56 +02:00
meggert added 3 commits 2023-07-19 13:24:26 +02:00
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8451a2f8ef extended state machine
meggert added 1 commit 2023-07-19 14:38:53 +02:00
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8db131f4ab the good fix
meggert added 2 commits 2023-07-19 15:30:46 +02:00
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c48be8f37b stuff
meggert added 1 commit 2023-07-19 16:25:01 +02:00
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beaacc251b new class YAY
meggert added 1 commit 2023-07-19 16:33:55 +02:00
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800e29bcb9 missing param
meggert added 1 commit 2023-07-20 09:32:53 +02:00
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d90fd07ba3 a new dataset a day keeps the doctor away
meggert added 2 commits 2023-07-20 11:09:36 +02:00
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7b0a47b010 use calculation
meggert added 1 commit 2023-07-20 11:10:37 +02:00
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32e2d87143 Merge branch 'main' into acs-safe-flp-v2
meggert added 1 commit 2023-07-20 11:32:29 +02:00
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0d501e5064 extended state machine and corrected controller calls
meggert added 1 commit 2023-07-20 11:36:34 +02:00
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b26600ac64 no bugs to see here, please move on
meggert added 1 commit 2023-07-20 13:09:39 +02:00
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5f481fd4d0 keep going people, nothing to see here
meggert added 1 commit 2023-07-20 13:53:25 +02:00
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d618e913af old safe mode is default safe mode
meggert added 2 commits 2023-07-20 14:22:35 +02:00
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07e002ccd2 detumble from fusedRotRate
meggert added 1 commit 2023-07-20 14:43:32 +02:00
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753b9f8a0e better detumble exit
meggert added 1 commit 2023-07-21 09:51:18 +02:00
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6efee8d4da whoops
meggert added 1 commit 2023-07-21 11:10:01 +02:00
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f736489430 bugfix
meggert added 1 commit 2023-07-21 14:24:59 +02:00
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7e1e02c2bc ????
meggert added 1 commit 2023-07-24 09:51:56 +02:00
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e2926e25f6 bump tmtc
meggert added 1 commit 2023-07-24 10:10:13 +02:00
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c6294cadbd improved readability?
meggert added 1 commit 2023-07-24 10:14:25 +02:00
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61b3ef790a lets pretend this makes it all better
meggert added a new dependency 2023-07-25 09:49:07 +02:00
#750 v6.1.0-branch
meggert removed a dependency 2023-07-25 09:49:11 +02:00
#750 v6.1.0-branch
meggert added a new dependency 2023-07-25 09:49:20 +02:00
eive/eive-tmtc#221 - new safe mode
meggert added 2 commits 2023-07-25 09:56:36 +02:00
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942b459066 changelog
meggert added 1 commit 2023-07-25 09:58:10 +02:00
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011f4bf5d9 Merge branch 'main' into acs-safe-flp-v2
meggert requested review from muellerr 2023-07-25 10:01:06 +02:00
meggert changed title from WIP: New Safe Mode Controller to New Safe Mode Controller 2023-07-25 10:01:19 +02:00
muellerr reviewed 2023-07-25 11:18:25 +02:00
mission/acs/defs.h
@ -33,0 +29,4 @@
SAFECTRL_MEKF = 10,
SAFECTRL_GYR = 11,
SAFECTRL_SUSMGM = 12,
SAFECTRL_ECLIPSE_DAMPING_GYR = 13,
muellerr commented 2023-07-25 10:24:40 +02:00
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I guess this enforces a minimum compatible OBSW version for the new MIB?

I guess this enforces a minimum compatible OBSW version for the new MIB?
meggert commented 2023-07-25 11:29:14 +02:00
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Yes this is a breaking change sadly

Yes this is a breaking change sadly
mission/controller/acs/FusedRotationEstimation.cpp
@ -0,0 +94,4 @@
{
PoolReadGuard pg(fusedRotRateData);
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(false);
muellerr commented 2023-07-25 10:30:29 +02:00
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im an AOCS noob, those 2 being invalid is on purpose?

im an AOCS noob, those 2 being invalid is on purpose?
meggert commented 2023-07-25 11:26:51 +02:00
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they are. During eclipse we take the last valid rotational rate calculated and use the GYRs to continue from there. Therefore the split into orthogonal and parallel is never calculated here.

they are. During eclipse we take the last valid rotational rate calculated and use the GYRs to continue from there. Therefore the split into orthogonal and parallel is never calculated here.
muellerr marked this conversation as resolved
muellerr added 1 commit 2023-07-26 09:51:20 +02:00
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f5a9a4973c Merge remote-tracking branch 'origin/main' into acs-safe-flp-v2
muellerr added 1 commit 2023-07-26 09:51:41 +02:00
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a5c799180e
bump tmtc
muellerr approved these changes 2023-07-26 10:01:21 +02:00
muellerr merged commit dbb3434cd9 into main 2023-07-26 11:08:12 +02:00
muellerr deleted branch acs-safe-flp-v2 2023-07-26 11:08:12 +02:00
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Depends on
#221 new safe mode
eive/eive-tmtc
Reference: eive/eive-obsw#748
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