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Use SGP4 Propagator for GPS #770

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muellerr merged 33 commits from use-sgp4-propagator into main 2023-08-14 15:47:33 +02:00
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4 changed files with 114 additions and 19 deletions
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6
CHANGELOG.md
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@ -24,11 +24,17 @@ will consitute of a breaking change warranting a new major release:
a TLE has been uploaded with the newly added action command for the ACS Controller. In
return the actual GPS data will be ignored once SPG4 is running. However, by setting the
according parameter, the ACS Controller can be directed to ignore the SGP4 solution.
- Skyview dataset for more GPS TM has been added
## Fixed
- The handling function of the GPS data is only called once per GPS read. This should remove
the fake fix-has-changed events.
## Changed
- GPS Fix has changed event is no longer triggered for the EM
# [v6.3.0] 2023-08-03
## Fixed

46
linux/acs/GpsHyperionLinuxController.cpp
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@ -21,6 +21,7 @@ GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, obj
bool enableHkSets, bool debugHyperionGps)
: ExtendedControllerBase(objectId),
gpsSet(this),
skyviewSet(this),
enableHkSets(enableHkSets),
debugHyperionGps(debugHyperionGps) {}
@ -29,7 +30,17 @@ GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_close(&gps);
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case GpsHyperion::CORE_DATASET:
return &gpsSet;
case GpsHyperion::SKYVIEW_DATASET:
return &skyviewSet;
default:
return nullptr;
}
return nullptr;
}
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
@ -90,6 +101,13 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::ELEVATION, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::SIGNAL2NOISE, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::USED, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({skyviewSet.getSid(), false, 120.0});
return returnvalue::OK;
}
@ -210,7 +228,15 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
return returnvalue::FAILED;
}
}
ReturnValue_t result = handleCoreTelemetry(modeIsSet);
if (result != returnvalue::OK) {
return result;
}
result = handleSkyviewTelemetry();
return result;
}
ReturnValue_t GpsHyperionLinuxController::handleCoreTelemetry(bool modeIsSet) {
PoolReadGuard pg(&gpsSet);
if (pg.getReadResult() != returnvalue::OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -238,7 +264,9 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
}
}
if (gpsSet.fixMode.value != newFix) {
#if OBSW_Q7S_EM != 1
triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
#endif
}
gpsSet.fixMode = newFix;
gpsSet.fixMode.setValid(modeIsSet);
@ -371,6 +399,22 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::handleSkyviewTelemetry() {
PoolReadGuard pg(&skyviewSet);
if (pg.getReadResult() != returnvalue::OK) {
return returnvalue::FAILED;
}
skyviewSet.unixSeconds.value = gps.skyview_time;
for (int sat = 0; sat < GpsHyperion::MAX_SATELLITES; sat++) {
skyviewSet.prn_id.value[sat] = gps.skyview[sat].PRN;
skyviewSet.azimuth.value[sat] = gps.skyview[sat].azimuth;
skyviewSet.elevation.value[sat] = gps.skyview[sat].elevation;
skyviewSet.signal2noise.value[sat] = gps.skyview[sat].ss;
skyviewSet.used.value[sat] = gps.skyview[sat].used;
}
return returnvalue::OK;
}
void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
if (not timeInit and validFix) {
if (not utility::timeSanityCheck()) {

3
linux/acs/GpsHyperionLinuxController.h
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@ -54,9 +54,12 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
LocalDataPoolManager& poolManager) override;
ReturnValue_t handleGpsReadData();
ReturnValue_t handleCoreTelemetry(bool modeIsSet);
ReturnValue_t handleSkyviewTelemetry();
private:
GpsPrimaryDataset gpsSet;
SkyviewDataset skyviewSet;
gps_data_t gps = {};
bool enableHkSets = false;
const char* currentClientBuf = nullptr;

78
mission/acs/archive/GPSDefinitions.h
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@ -20,32 +20,47 @@ static constexpr Event CANT_GET_FIX = event::makeEvent(SUBSYSTEM_ID, 1, severity
static constexpr DeviceCommandId_t GPS_REPLY = 0;
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
static constexpr uint32_t DATASET_ID = 0;
enum SetIds : uint32_t {
CORE_DATASET,
SKYVIEW_DATASET,
};
enum GpsPoolIds : lp_id_t {
LATITUDE = 0,
LONGITUDE = 1,
ALTITUDE = 2,
SPEED = 3,
FIX_MODE = 4,
SATS_IN_USE = 5,
SATS_IN_VIEW = 6,
UNIX_SECONDS = 7,
YEAR = 8,
MONTH = 9,
DAY = 10,
HOURS = 11,
MINUTES = 12,
SECONDS = 13
LATITUDE,
LONGITUDE,
ALTITUDE,
SPEED,
FIX_MODE,
SATS_IN_USE,
SATS_IN_VIEW,
UNIX_SECONDS,
YEAR,
MONTH,
DAY,
HOURS,
MINUTES,
SECONDS,
SKYVIEW_UNIX_SECONDS,
PRN_ID,
AZIMUTH,
ELEVATION,
SIGNAL2NOISE,
USED,
};
static constexpr uint8_t CORE_DATASET_ENTRIES = 14;
static constexpr uint8_t SKYVIEW_ENTRIES = 6;
static constexpr uint8_t MAX_SATELLITES = 30;
enum GpsFixModes : uint8_t { INVALID = 0, NO_FIX = 1, FIX_2D = 2, FIX_3D = 3 };
} // namespace GpsHyperion
class GpsPrimaryDataset : public StaticLocalDataSet<18> {
class GpsPrimaryDataset : public StaticLocalDataSet<GpsHyperion::CORE_DATASET_ENTRIES> {
public:
GpsPrimaryDataset(object_id_t gpsId) : StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) {
GpsPrimaryDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::CORE_DATASET)) {
setAllVariablesReadOnly();
}
@ -69,7 +84,34 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
: StaticLocalDataSet(hkOwner, GpsHyperion::CORE_DATASET) {}
};
class SkyviewDataset : public StaticLocalDataSet<GpsHyperion::SKYVIEW_ENTRIES> {
public:
SkyviewDataset(object_id_t gpsId)
: StaticLocalDataSet(sid_t(gpsId, GpsHyperion::SKYVIEW_DATASET)) {
setAllVariablesReadOnly();
}
lp_var_t<double> unixSeconds =
lp_var_t<double>(sid.objectId, GpsHyperion::SKYVIEW_UNIX_SECONDS, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> prn_id =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::PRN_ID, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> azimuth =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::AZIMUTH, this);
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES> elevation =
lp_vec_t<int16_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::ELEVATION, this);
lp_vec_t<double, GpsHyperion::MAX_SATELLITES> signal2noise =
lp_vec_t<double, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::SIGNAL2NOISE, this);
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES> used =
lp_vec_t<uint8_t, GpsHyperion::MAX_SATELLITES>(sid.objectId, GpsHyperion::USED, this);
private:
friend class GpsHyperionLinuxController;
friend class GpsCtrlDummy;
SkyviewDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, GpsHyperion::SKYVIEW_DATASET) {}
};
#endif /* MISSION_ACS_ARCHIVE_GPSDEFINITIONS_H_ */