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Different Rot Rate Source for Detumble #902

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muellerr merged 14 commits from use-different-rot-rate-for-detumble into main 2024-06-26 15:36:32 +02:00
Conversation 0 Commits 14 Files Changed 8 +13 -11
3 changed files with 13 additions and 11 deletions
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2
CHANGELOG.md
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@ -18,6 +18,8 @@ will consitute of a breaking change warranting a new major release:
## Changed ## Changed
- STR quaternions are now used by the `MEKF` by default
- Changed nominal `SUS Assembly` side to `B Side`.
- Changed source for state machine of detumbling to SUS and MGM only. - Changed source for state machine of detumbling to SUS and MGM only.
- Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM. - Changed `FusedRotRateData` dataset to always display rotation rate from SUS and MGM.

2
mission/controller/acs/AcsParameters.h
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@ -949,7 +949,7 @@ class AcsParameters : public HasParametersIF {
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
uint8_t allowStr = false; uint8_t allowStr = true;
} kalmanFilterParameters; } kalmanFilterParameters;
struct MagnetorquerParameter { struct MagnetorquerParameter {

20
mission/system/acs/acsModeTree.cpp
View File

@ -105,7 +105,7 @@ Subsystem& satsystem::acs::init() {
}; };
// Build TARGET PT transition 0 // Build TARGET PT transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
@ -114,7 +114,7 @@ Subsystem& satsystem::acs::init() {
ctxc); ctxc);
// Build SUS board transition // Build SUS board transition
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, SUS_BOARD_NML_TRANS.second, true);
check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
ctxc); ctxc);
@ -200,14 +200,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT, iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
ACS_TABLE_SAFE_TGT.second, true); ACS_TABLE_SAFE_TGT.second, true);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc); check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
// Build SAFE transition 0 // Build SAFE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@ -257,14 +257,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
// Build IDLE transition 0 // Build IDLE transition 0
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true); ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@ -307,7 +307,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@ -356,7 +356,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@ -409,7 +409,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Build TARGET PT table // Build TARGET PT table
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true); iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second); iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@ -462,7 +462,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0, iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second); iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, iht(objects::SUS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
true); true);
iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
true); true);