Improve GS PTG #876

Merged
meggert merged 5 commits from gs-ptr-improv into main 2024-03-18 11:04:02 +01:00
8 changed files with 22 additions and 8 deletions
Showing only changes of commit c58bae5aa5 - Show all commits

View File

@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
- Bumped `eive-fsfw`
## Added
- Added parameter to disable STR input for MEKF.
## Fixed
- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the

View File

@ -180,7 +180,8 @@ void AcsController::performAttitudeControl() {
mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, timeDelta, &attitudeEstimationData);
&susDataProcessed, timeDelta, &attitudeEstimationData,
acsParameters.kalmanFilterParameters.allowStr);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {

View File

@ -734,6 +734,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x5:
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs);
break;
case 0x6:
parameterWrapper->set(kalmanFilterParameters.allowStr);
break;
default:
return INVALID_IDENTIFIER_ID;
}

View File

@ -947,6 +947,8 @@ class AcsParameters : public HasParametersIF {
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
uint8_t allowStr = false;
} kalmanFilterParameters;
struct MagnetorquerParameter {

View File

@ -626,11 +626,11 @@ void MultiplicativeKalmanFilter::updateDataSet(
}
}
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW,
bool valid) {
void MultiplicativeKalmanFilter::setStrData(double qX, double qY, double qZ, double qW, bool valid,
bool allowStr) {
strData.strQuat.value[0] = qX;
strData.strQuat.value[1] = qY;
strData.strQuat.value[2] = qZ;
strData.strQuat.value[3] = qW;
strData.strQuat.valid = valid;
strData.strQuat.valid = (valid and allowStr);
}

View File

@ -38,7 +38,7 @@ class MultiplicativeKalmanFilter {
void updateStandardDeviations(const AcsParameters *acsParameters);
void setStrData(const double qX, const double qY, const double qZ, const double qW,
const bool valid);
const bool valid, const bool allowStr);
static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);

View File

@ -9,11 +9,12 @@ ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed,
const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
acsctrl::AttitudeEstimationData *attitudeEstimationData,
const bool allowStr) {
multiplicativeKalmanFilter.setStrData(
sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value,
sensorValues->strSet.caliQx.isValid());
sensorValues->strSet.caliQx.isValid(), allowStr);
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed,

View File

@ -17,7 +17,8 @@ class Navigation {
const acsctrl::GyrDataProcessed *gyrDataProcessed,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData);
acsctrl::AttitudeEstimationData *attitudeEstimationData,
const bool allowStr);
void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);