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Adjust dataset frequency #906

Merged
muellerr merged 7 commits from reduce-dataset-freq into main 2024-06-26 13:30:34 +02:00
Conversation 0 Commits 7 Files Changed 6 +39 -17
6 changed files with 39 additions and 17 deletions
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11
CHANGELOG.md
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@ -20,6 +20,17 @@ will consitute of a breaking change warranting a new major release:
- STR quaternions are now used by the `MEKF` by default
- Changed nominal `SUS Assembly` side to `B Side`.
- Changed collection intervals of dataset collection
- `GPS Controller`: `GPS Set` to 60s
- `MTQ Handler`: `HK with Torque`, `HK without Torque` to 60s
- `RW Handler`: `Status Set` to 30s
- `STR Handler`: `Solution Set` to 30s
- `ACS Controller`: `MGM Sensor`, `MGM Processed`, `SUS Sensor`, `SUS Processed`, `GYR Sensor`,
`GPS Processed` to 60s
- `ACS Controller` at or below `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
`Fused Rotation Rate` to 30s
- `ACS Controller` above `IDLE`: `CTRL Values`, `ACT Commands`, `Attitude Estimation`,
`Fused Rotation Rate` to 10s
## Fixed

2
linux/acs/GpsHyperionLinuxController.cpp
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@ -100,7 +100,7 @@ ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 30.0});
poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), enableHkSets, 60.0});
localDataPoolMap.emplace(GpsHyperion::SKYVIEW_UNIX_SECONDS, new PoolEntry<double>());
localDataPoolMap.emplace(GpsHyperion::PRN_ID, new PoolEntry<int16_t>());
localDataPoolMap.emplace(GpsHyperion::AZIMUTH, new PoolEntry<int16_t>());

4
mission/acs/ImtqHandler.cpp
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@ -795,9 +795,9 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
localDataPoolMap.emplace(imtq::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 30.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetNoTorque.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 30.0));
subdp::DiagnosticsHkPeriodicParams(hkDatasetWithTorque.getSid(), enableHkSets, 60.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(rawMtmNoTorque.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(

2
mission/acs/RwHandler.cpp
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@ -340,7 +340,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 12.0));
subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(

2
mission/acs/str/StarTrackerHandler.cpp
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@ -1662,7 +1662,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 12.0));
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 30.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(

35
mission/controller/AcsController.cpp
View File

@ -747,7 +747,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 10.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 60.0});
// MGM Processed
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
@ -757,7 +757,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 10.0});
poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), enableHkSets, 60.0});
// SUS Raw
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
@ -771,7 +771,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 10.0});
poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 60.0});
// SUS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
@ -788,20 +788,20 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 10.0});
poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), enableHkSets, 60.0});
// GYR Raw
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 10.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 60.0});
// GYR Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 10.0});
poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), enableHkSets, 60.0});
// GPS Processed
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@ -809,38 +809,38 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 60.0});
// Attitude Estimation
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 30.0});
// Ctrl Values
localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_ROT_RATE, &tgtRotRate);
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 10.0});
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), enableHkSets, 30.0});
// Actuator CMD
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 10.0});
poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), enableHkSets, 30.0});
// Fused Rot Rate
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 30.0});
// Fused Rot Rate Sources
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 60.0});
return returnvalue::OK;
}
@ -926,6 +926,17 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
detumbleState = DetumbleState::NO_DETUMBLE;
}
if (mode > acs::AcsMode::PTG_IDLE) {
poolManager.changeCollectionInterval(ctrlValData.getSid(), 10);
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 10);
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 10);
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 10);
} else {
poolManager.changeCollectionInterval(ctrlValData.getSid(), 30);
poolManager.changeCollectionInterval(actuatorCmdData.getSid(), 30);
poolManager.changeCollectionInterval(fusedRotRateData.getSid(), 30);
poolManager.changeCollectionInterval(attitudeEstimationData.getSid(), 30);
}
return ExtendedControllerBase::modeChanged(mode, submode);
}