eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Always trigger Detumble #846

Merged
meggert merged 10 commits from detumble-fix into main 2024-01-29 17:02:30 +01:00
Conversation 1 Commits 10 Files Changed 5 +69 -68
2 changed files with 69 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit c67f65369c - Show all commits

117
mission/controller/AcsController.cpp
View File

@ -178,41 +178,6 @@ void AcsController::performAttitudeControl() {
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &attitudeEstimationData, &acsParameters);
if (not submode == acs::SafeSubmode::DETUMBLE) {
}
switch (detumbleState) {
case DetumbleState::NO_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
break;
}
detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
}
break;
case DetumbleState::DETUMBLE_FROM_PTG:
triggerEvent(acs::PTG_RATE_VIOLATION);
break;
case DetumbleState::DETUMBLE_FROM_SAFE:
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
break;
case DetumbleState::IN_DETUMBLE:
break;
default:
sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
}
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
@ -354,33 +319,6 @@ void AcsController::performDetumble() {
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
if (acsParameters.safeModeControllerParameters.useMekf) {
if (attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
}
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
}
updateCtrlValData(safeCtrlStrat);
updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
@ -612,6 +550,61 @@ void AcsController::performPointingCtrl() {
acsParameters.rwHandlingParameters.rampTime);
}
void AcsController::handleDetumbling() {
switch (detumbleState) {
case DetumbleState::NO_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
break;
}
detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
}
break;
case DetumbleState::DETUMBLE_FROM_PTG:
triggerEvent(acs::PTG_RATE_VIOLATION);
detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
break;
case DetumbleState::PTG_TO_SAFE_TRANSITION:
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
}
break;
case DetumbleState::DETUMBLE_FROM_SAFE:
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
break;
case DetumbleState::IN_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
muellerr commented 2024-01-29 12:08:21 +01:00
Review
Copy Link

GYR and MEKF are not relevant anymore? (I just compared to the deleted code above..)

GYR and MEKF are not relevant anymore? (I just compared to the deleted code above..)
meggert commented 2024-01-29 14:10:57 +01:00
Review
Copy Link

for now they are irrelevant. the MEKF might come back someday

for now they are irrelevant. the MEKF might come back someday
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
detumbleState = DetumbleState::NO_DETUMBLE;
}
break;
default:
sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
}
}
void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {
if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE, mgmFailure, sensorFailure);

20
mission/controller/AcsController.h
View File

@ -46,11 +46,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint16_t startAtIndex) override;
protected:
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
private:
static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
@ -101,7 +96,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
enum class DetumbleState { NO_DETUMBLE, DETUMBLE_FROM_SAFE, DETUMBLE_FROM_PTG, IN_DETUMBLE };
enum class DetumbleState {
NO_DETUMBLE,
DETUMBLE_FROM_PTG,
PTG_TO_SAFE_TRANSITION,
DETUMBLE_FROM_SAFE,
IN_DETUMBLE
};
DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
/** Device command IDs */
@ -137,6 +138,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
void handleDetumbling();
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,