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Fixes for Pointing Modes #851

Merged
meggert merged 24 commits from ptg-fixes into main 2024-01-29 17:05:46 +01:00
Conversation 1 Commits 24 Files Changed 12 +115 -107
12 changed files with 115 additions and 107 deletions
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10
CHANGELOG.md
View File

@ -16,6 +16,9 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- Bumped `eive-tmtc` to
- Bumped `eive-fsfw`
## Added
- Added new parameter for MPSoC which allows to skip SUPV commanding.
@ -40,6 +43,13 @@ will consitute of a breaking change warranting a new major release:
`AcsController` being allowed sending invalid speed commands to the RW Handler, which
would then trigger FDIR and turning off the functioning device
- `RwHandler` returnvalues would use the `INTERFACE_ID` of the `DeviceHandlerBase`
- The `AcsController` will reset its stored guidance values on mode change and lost
orientation.
- The nullspace controller will only be used if all RWs are available.
- Calculation of required rotation rate in pointing modes has been fixed to actual
calculation of rotation rate from two quaternions.
- Fixed alignment matrix and pseudo inverses of RWs, to match the wrong definition of
positive rotation.
# [v7.5.5] 2024-01-22

2
fsfw

@ -1 +1 @@
Subproject commit e64e8b274d436502d5c5b87865b9006e52e4b1aa
Subproject commit b5e7179af1da085b9be598b4897f2664012781af

29
mission/controller/AcsController.cpp
View File

@ -49,7 +49,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
ReturnValue_t result = guidance.solarArrayDeploymentComplete();
if (result == returnvalue::FAILED) {
return FILE_DELETION_FAILED;
return acsctrl::FILE_DELETION_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
@ -360,6 +360,7 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
ptgCtrlLostCounter = 0;
}
guidance.resetValues();
updateCtrlValData(ptgCtrlStrat);
updateActuatorCmdData(ZERO_VEC4, cmdSpeedRws, ZERO_VEC3_INT16);
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
@ -393,9 +394,10 @@ void AcsController::performPointingCtrl() {
break;
}
bool allRwAvailable = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (result == acsctrl::MULTIPLE_RW_UNAVAILABLE) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
@ -403,8 +405,10 @@ void AcsController::performPointingCtrl() {
}
multipleRwUnavailableCounter++;
return;
} else {
multipleRwUnavailableCounter = 0;
}
multipleRwUnavailableCounter = 0;
if (result == acsctrl::SINGLE_RW_UNAVAILABLE) {
allRwAvailable = false;
}
// Variables required for guidance
@ -422,7 +426,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.idleModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
@ -445,7 +449,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.targetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
@ -465,7 +469,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.gsTargetModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
@ -488,7 +492,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.nadirModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
@ -510,7 +514,7 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
ptgCtrl.ptgNullspace(allRwAvailable, &acsParameters.inertialModeControllerParameters,
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
rwTrqNs);
@ -899,6 +903,7 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
rw4SpeedSet.setRwSpeed(0, 10);
}
}
guidance.resetValues();
return ExtendedControllerBase::modeChanged(mode, submode);
}
@ -1095,7 +1100,7 @@ ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
tleFile << "\n";
tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
} else {
return WRITE_FILE_FAILED;
return acsctrl::WRITE_FILE_FAILED;
}
tleFile.close();
return returnvalue::OK;
@ -1119,12 +1124,12 @@ ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
std::memcpy(line2, tleLine2.c_str(), 69);
} else {
triggerEvent(acs::TLE_FILE_READ_FAILED);
return READ_FILE_FAILED;
return acsctrl::READ_FILE_FAILED;
}
tleFile.close();
} else {
triggerEvent(acs::TLE_FILE_READ_FAILED);
return READ_FILE_FAILED;
return acsctrl::READ_FILE_FAILED;
}
return returnvalue::OK;
}

8
mission/controller/AcsController.h
View File

@ -112,14 +112,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
static const DeviceCommandId_t UPDATE_TLE = 0x3;
static const DeviceCommandId_t READ_TLE = 0x4;
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;

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

@ -333,16 +333,16 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
break;
case 0x2:
parameterWrapper->setMatrix(rwMatrices.without1);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
break;
case 0x3:
parameterWrapper->setMatrix(rwMatrices.without2);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
break;
case 0x4:
parameterWrapper->setMatrix(rwMatrices.without3);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
break;
case 0x5:
parameterWrapper->setMatrix(rwMatrices.without4);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
break;
case 0x6:
parameterWrapper->setVector(rwMatrices.nullspaceVector);

24
mission/controller/acs/AcsParameters.h
View File

@ -812,19 +812,19 @@ class AcsParameters : public HasParametersIF {
} rwHandlingParameters;
struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
double alignmentMatrix[3][4] = {{-0.9205, 0.0000, 0.9205, 0.0000},
{0.0000, 0.9205, 0.0000, -0.9205},
{-0.3907, -0.3907, -0.3907, -0.3907}};
double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without1[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without2[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
double without3[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
{-0.5432, 0, -0.6399}, {0, 0.5432, -0.6399}, {0.5432, 0, -0.6399}, {0, -0.5432, -0.6399}};
double pseudoInverseWithoutRW1[4][3] = {
{0, 0, 0}, {-0.5432, 0.5432, -1.2798}, {1.0864, 0, 0}, {-0.5432, -0.5432, -1.2798}};
double pseudoInverseWithoutRW2[4][3] = {
{-0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, -1.0864, 0}};
double pseudoInverseWithoutRW3[4][3] = {
{-1.0864, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, -0.5432, -1.2798}};
double pseudoInverseWithoutRW4[4][3] = {
{-0.5432, -0.5432, -1.2798}, {0, 1.0864, 0}, {0.5432, -0.5432, -1.2798}, {0, 0, 0}};
double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices;

83
mission/controller/acs/Guidance.cpp
View File

@ -1,15 +1,5 @@
#include "Guidance.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <cmath>
#include <filesystem>
#include <string>
Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
Guidance::~Guidance() {}
@ -431,7 +421,11 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Calculate error satellite rotational rate
// First combine the target and reference satellite rotational rates
// Convert target rotational rate into body RF
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
QuaternionOperations::inverse(errorQuat, errorQuatInv);
QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
// Combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then subtract the combined required satellite rotational rates from the actual rate
@ -455,44 +449,16 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
}
void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
double quatInertialTarget[4], double *refSatRate) {
//-------------------------------------------------------------------------------------
// Calculation of target rotation rate
//-------------------------------------------------------------------------------------
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
double quatIX[4], double *refSatRate) {
if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
}
if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(q, qS, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
double tgtQuatVec[3] = {q[0], q[1], q[2]};
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
omegaRefSaved[0] = omegaRefNew[0];
omegaRefSaved[1] = omegaRefNew[1];
omegaRefSaved[2] = omegaRefNew[2];
if (timeDelta != 0.0) {
QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
} else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
}
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
}
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
@ -506,22 +472,27 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
return returnvalue::OK;
} else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
return returnvalue::OK;
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
return returnvalue::OK;
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
return returnvalue::OK;
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
} else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
return returnvalue::OK;
} else {
return returnvalue::FAILED;
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
12 * sizeof(double));
return acsctrl::SINGLE_RW_UNAVAILABLE;
}
return acsctrl::MULTIPLE_RW_UNAVAILABLE;
}
void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
std::error_code e;
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or

21
mission/controller/acs/Guidance.h
View File

@ -1,11 +1,19 @@
#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <time.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
#include <cmath>
#include <filesystem>
#include <string>
class Guidance {
public:
@ -14,6 +22,7 @@ class Guidance {
void getTargetParamsSafe(double sunTargetSafe[3]);
ReturnValue_t solarArrayDeploymentComplete();
void resetValues();
// Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station
@ -59,9 +68,11 @@ class Guidance {
private:
const AcsParameters *acsParameters;
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
bool strBlindAvoidFlag = false;
double savedQuaternion[4] = {0, 0, 0, 0};
double omegaRefSaved[3] = {0, 0, 0};
double quatIXprev[4] = {0, 0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";

8
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -39,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
double kInt = 2 * om * om;
muellerr commented 2024-01-29 12:03:47 +01:00
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double qErrorLaw[3] = {0, 0, 0};
@ -111,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) {
if (not allRwAvabilable) {
return;
}
// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)};

3
mission/controller/acs/control/PtgCtrl.h
View File

@ -33,7 +33,8 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
void ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs);

9
mission/controller/acs/util/MathOperations.h
View File

@ -4,15 +4,12 @@
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/src/fsfw/globalfunctions/sign.h>
#include <stdint.h>
#include <string.h>
#include <sys/time.h>
#include <fsfw/src/fsfw/serviceinterface.h>
#include <cmath>
#include <cstring>
#include <iostream>
#include "fsfw/serviceinterface.h"
template <typename T1, typename T2 = T1>
class MathOperations {
public:
@ -46,7 +43,7 @@ class MathOperations {
static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
int min_idx;
T1 temp;
memcpy(result, matrix, rowSize * colSize * sizeof(*result));
std::memcpy(result, matrix, rowSize * colSize * sizeof(*result));
// One by one move boundary of unsorted subarray
for (int k = 0; k < rowSize; k++) {
for (int i = 0; i < colSize - 1; i++) {

17
mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
View File

@ -1,6 +1,7 @@
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_
#include <common/config/eive/resultClassIds.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/localPoolDefinitions.h>
@ -8,6 +9,22 @@
namespace acsctrl {
static const uint8_t IF_ACS_CTRL_ID = CLASS_ID::ACS_CTRL;
//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
static constexpr ReturnValue_t FILE_DELETION_FAILED =
returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 0);
//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
static constexpr ReturnValue_t WRITE_FILE_FAILED =
returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 1);
//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
static constexpr ReturnValue_t READ_FILE_FAILED = returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 2);
//! [EXPORT] : [COMMENT] A single RW has failed.
static constexpr ReturnValue_t SINGLE_RW_UNAVAILABLE =
returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 3);
//! [EXPORT] : [COMMENT] Multiple RWs have failed.
static constexpr ReturnValue_t MULTIPLE_RW_UNAVAILABLE =
returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 4);
enum SetIds : uint32_t {
MGM_SENSOR_DATA,
MGM_PROCESSED_DATA,