eive/eive-obsw
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v7.5.0 #828

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muellerr merged 96 commits from dev-7.5.0 into main 2023-12-06 17:44:23 +01:00
Conversation 1 Commits 96 Files Changed 47 +24 -24
8 changed files with 24 additions and 24 deletions
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Showing only changes of commit acf693636a - Show all commits

5
mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstim
} }
} }
void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData,
double quat[4], double satRotRate[3]) { MekfStatus mekfStatus, double quat[4],
double satRotRate[3]) {
{ {
PoolReadGuard pg(mekfData); PoolReadGuard pg(mekfData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {

8
mission/controller/acs/MultiplicativeKalmanFilter.h
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@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter {
*/ */
ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_, ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
const bool validSS, const double *sunDirJ, const bool validSSModel, const bool validSS, const double *sunDirJ, const bool validSSModel,
const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData, const double *magFieldJ, const bool validMagModel,
AcsParameters *acsParameters); acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
/* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter /* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
* for the current step after the initalization * for the current step after the initalization
@ -100,8 +100,8 @@ class MultiplicativeKalmanFilter {
/*Parameter INIT*/ /*Parameter INIT*/
/*Functions*/ /*Functions*/
void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus); void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus);
void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus, double quat[4], void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus,
double satRotRate[3]); double quat[4], double satRotRate[3]);
}; };
#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */ #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

4
mission/controller/acs/Navigation.h
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@ -17,8 +17,8 @@ class Navigation {
ReturnValue_t useMekf(ACS::SensorValues *sensorValues, ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::AttitudeEstimationData *mekfData, acsctrl::SusDataProcessed *susDataProcessed,
AcsParameters *acsParameters); acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
void resetMekf(acsctrl::AttitudeEstimationData *mekfData); void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed); ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);

10
mission/controller/acs/control/SafeCtrl.cpp
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@ -9,12 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {} SafeCtrl::~SafeCtrl() {}
acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(
const bool satRotRateValid, const bool sunDirValid, const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
const bool fusedRateTotalValid, const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled,
const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
const uint8_t gyrEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) { } else if (mekfEnabled and mekfValid) {

5
mission/controller/acs/control/SafeCtrl.h
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@ -14,8 +14,9 @@ class SafeCtrl {
acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid, const bool satRotRateValid, const bool sunDirValid,
const bool fusedRateTotalValid, const uint8_t mekfEnabled, const bool fusedRateTotalValid,
const uint8_t gyrEnabled, const uint8_t dampingEnabled); const uint8_t mekfEnabled, const uint8_t gyrEnabled,
const uint8_t dampingEnabled);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, double *magMomB, const double *quatBI, const double *sunDirRefB, double *magMomB,