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Once upon a time Robin was made happy #800

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meggert merged 20 commits from make-robin-happy-about-timestuff into dev-7.5.0 2023-12-04 11:21:53 +01:00
Conversation 1 Commits 20 Files Changed 10 +78 -134
2 changed files with 78 additions and 134 deletions
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181
mission/controller/AcsController.cpp
View File

@ -122,26 +122,6 @@ void AcsController::performControlOperation() {
} }
} }
timeval timeAbsolute;
Clock::getClock_timeval(&timeAbsolute);
timeval timeRelative;
Clock::getClockMonotonic(&timeRelative);
ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed);
if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
triggerEvent(acs::TLE_TOO_OLD);
tleTooOldFlag = true;
} else if (result != Sgp4Propagator::TLE_TOO_OLD) {
tleTooOldFlag = false;
}
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
switch (internalState) { switch (internalState) {
case InternalState::STARTUP: { case InternalState::STARTUP: {
initialCountdown.resetTimer(); initialCountdown.resetTimer();
@ -156,25 +136,7 @@ void AcsController::performControlOperation() {
} }
case InternalState::READY: { case InternalState::READY: {
if (mode != MODE_OFF) { if (mode != MODE_OFF) {
switch (mode) { performAttitudeControl();
case acs::SAFE:
switch (submode) {
case SUBMODE_NONE:
performSafe();
break;
case acs::DETUMBLE:
performDetumble();
break;
}
break;
case acs::PTG_IDLE:
case acs::PTG_TARGET:
case acs::PTG_TARGET_GS:
case acs::PTG_NADIR:
case acs::PTG_INERTIAL:
performPointingCtrl();
break;
}
} }
break; break;
} }
@ -183,23 +145,29 @@ void AcsController::performControlOperation() {
} }
} }
void AcsController::performSafe() { void AcsController::performAttitudeControl() {
timeval now; timeval timeAbsolute;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&timeAbsolute);
timeval timeRelative;
Clock::getClockMonotonic(&timeRelative);
ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed); ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed);
if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) { if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
triggerEvent(acs::TLE_TOO_OLD); triggerEvent(acs::TLE_TOO_OLD);
tleTooOldFlag = true; tleTooOldFlag = true;
} else if (result != Sgp4Propagator::TLE_TOO_OLD) { } else if (result != Sgp4Propagator::TLE_TOO_OLD) {
tleTooOldFlag = false; tleTooOldFlag = false;
} }
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); sensorProcessing.process(timeAbsolute, timeRelative, &sensorValues, &mgmDataProcessed,
&susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed, fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData); &gyrDataProcessed, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters); &susDataProcessed, &mekfData, &acsParameters);
switch (mode) {
case acs::SAFE:
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
@ -215,7 +183,55 @@ void AcsController::performSafe() {
triggerEvent(acs::MEKF_RECOVERY); triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
switch (submode) {
case SUBMODE_NONE:
performSafe();
break;
case acs::DETUMBLE:
performDetumble();
break;
}
break;
case acs::PTG_IDLE:
case acs::PTG_TARGET:
case acs::PTG_TARGET_GS:
case acs::PTG_NADIR:
case acs::PTG_INERTIAL:
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++;
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0,
0);
mekfInvalidCounter = 0;
}
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration,
cmdSpeedRws[0], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);
return;
} else {
if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
mekfInvalidCounter = 0;
}
performPointingCtrl();
break;
}
}
void AcsController::performSafe() {
// get desired satellite rate, sun direction to align to and inertia // get desired satellite rate, sun direction to align to and inertia
double sunTargetDir[3] = {0, 0, 0}; double sunTargetDir[3] = {0, 0, 0};
guidance.getTargetParamsSafe(sunTargetDir); guidance.getTargetParamsSafe(sunTargetDir);
@ -316,37 +332,6 @@ void AcsController::performSafe() {
} }
void AcsController::performDetumble() { void AcsController::performDetumble() {
timeval now;
Clock::getClock_timeval(&now);
ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
triggerEvent(acs::TLE_TOO_OLD);
tleTooOldFlag = true;
} else {
tleTooOldFlag = false;
}
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}
} else if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
acs::SafeModeStrategy 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(),
@ -409,51 +394,9 @@ void AcsController::performDetumble() {
} }
void AcsController::performPointingCtrl() { void AcsController::performPointingCtrl() {
timeval now;
Clock::getClock_timeval(&now);
ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
triggerEvent(acs::TLE_TOO_OLD);
tleTooOldFlag = true;
} else {
tleTooOldFlag = false;
}
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++;
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
mekfInvalidCounter = 0;
}
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);
return;
} else {
if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
mekfInvalidCounter = 0;
}
uint8_t enableAntiStiction = true; uint8_t enableAntiStiction = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) { if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter >= if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) { acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {

1
mission/controller/AcsController.h
View File

@ -37,6 +37,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint16_t startAtIndex) override; uint16_t startAtIndex) override;
protected: protected:
void performAttitudeControl();
void performSafe(); void performSafe();
void performDetumble(); void performDetumble();
void performPointingCtrl(); void performPointingCtrl();