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v7.5.0 #828

Merged
muellerr merged 96 commits from dev-7.5.0 into main 2023-12-06 17:44:23 +01:00
Conversation 0 Commits 96 Files Changed 47 +25 -17
6 changed files with 25 additions and 17 deletions
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Showing only changes of commit 2f3335403b - Show all commits

11
mission/acs/defs.h
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@ -45,20 +45,23 @@ enum ControlModeStrategy : uint8_t {
PTGCTRL_STR = 101,
PTGCTRL_QUEST = 102,
};
enum GpsSource : uint8_t {
namespace gps {
enum Source : uint8_t {
NONE,
GPS,
GPS_EXTRAPOLATED,
SPG4,
};
}
enum RotRateSource : uint8_t {
ALL_INVALID,
namespace rotrate {
enum Source : uint8_t {
NONE,
SUSMGM,
QUEST,
STR,
};
}
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.

4
mission/controller/AcsController.cpp
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@ -431,6 +431,10 @@ void AcsController::performPointingCtrl() {
std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
break;
default:
sif::error << "AcsController: Invalid pointing mode strategy for performDetumble"
<< std::endl;
break;
}
uint8_t enableAntiStiction = true;

8
mission/controller/acs/FusedRotationEstimation.cpp
View File

@ -26,7 +26,7 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::STR;
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
@ -40,7 +40,7 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::QUEST;
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
@ -55,7 +55,7 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::SUSMGM;
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
fusedRotRateData->rotRateSource.setValid(true);
} else {
PoolReadGuard pg(fusedRotRateData);
@ -63,7 +63,7 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
fusedRotRateData->rotRateSource.value = acs::RotRateSource::ALL_INVALID;
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
fusedRotRateData->setValidity(false, true);
}
}

7
mission/controller/acs/Navigation.cpp
View File

@ -16,7 +16,8 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters) {
acsctrl::AttitudeEstimationData *mekfData,
AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
@ -54,7 +55,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->source = acs::GpsSource::SPG4;
gpsDataProcessed->source = acs::gps::Source::SPG4;
gpsDataProcessed->source.setValid(true);
std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
gpsDataProcessed->gpsPosition.setValid(true);
@ -66,7 +67,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->source = acs::GpsSource::NONE;
gpsDataProcessed->source = acs::gps::Source::NONE;
gpsDataProcessed->source.setValid(true);
std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
gpsDataProcessed->gpsPosition.setValid(false);

8
mission/controller/acs/SensorProcessing.cpp
View File

@ -15,7 +15,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
// ------------------------------------------------
double magIgrfModel[3] = {0.0, 0.0, 0.0};
bool gpsValid = false;
if (gpsDataProcessed->source.value != acs::GpsSource::NONE) {
if (gpsDataProcessed->source.value != acs::gps::Source::NONE) {
Igrf13Model igrf13;
igrf13.schmidtNormalization();
igrf13.updateCoeffGH(timeAbsolute);
@ -526,9 +526,9 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
// init variables
double gdLongitude = 0, gdLatitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
gpsVelocityE[3] = {0, 0, 0};
uint8_t gpsSource = acs::GpsSource::NONE;
uint8_t gpsSource = acs::gps::Source::NONE;
// We do not trust the GPS and therefore it shall die here if SPG4 is running
if (gpsDataProcessed->source.value == acs::GpsSource::SPG4 and gpsParameters->useSpg4) {
if (gpsDataProcessed->source.value == acs::gps::Source::SPG4 and gpsParameters->useSpg4) {
MathOperations<double>::latLongAltFromCartesian(gpsDataProcessed->gpsPosition.value, gdLatitude,
gdLongitude, altitude);
double factor = 1 - pow(ECCENTRICITY_WGS84, 2);
@ -571,7 +571,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
validSavedPosSatE = true;
gpsSource = acs::GpsSource::GPS;
gpsSource = acs::gps::Source::GPS;
}
{
PoolReadGuard pg(gpsDataProcessed);

4
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -17,9 +17,9 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::ControlModeStrategy::PTGCTRL_MEKF;
} else if (strValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
} else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_STR;
} else if (questValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
} else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_QUEST;
} else {
return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;