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MEKF readded to Detumble State Machine #908

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meggert wants to merge 2 commits from detumble-mekf into main
pull from: detumble-mekf
merge into: eive:main
Conversation 0 Commits 2 Files Changed 2 +16 -6
2 changed files with 16 additions and 6 deletions
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4
CHANGELOG.md
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@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Changed
- Readded rotation rate from the `MEKF` to the detumble state machine.
# [v8.2.0] 2024-06-26 # [v8.2.0] 2024-06-26
## Changed ## Changed

14
mission/controller/AcsController.cpp
View File

@ -557,9 +557,12 @@ void AcsController::performPointingCtrl() {
void AcsController::handleDetumbling() { void AcsController::handleDetumbling() {
switch (detumbleState) { switch (detumbleState) {
case DetumbleState::NO_DETUMBLE: case DetumbleState::NO_DETUMBLE:
if (fusedRotRateData.rotRateTotalSusMgm.isValid() and if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) > VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) and
(attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart)) {
detumbleCounter++; detumbleCounter++;
} else if (detumbleCounter > 0) { } else if (detumbleCounter > 0) {
detumbleCounter -= 1; detumbleCounter -= 1;
@ -601,9 +604,12 @@ void AcsController::handleDetumbling() {
detumbleState = DetumbleState::NO_DETUMBLE; detumbleState = DetumbleState::NO_DETUMBLE;
break; break;
case DetumbleState::IN_DETUMBLE: case DetumbleState::IN_DETUMBLE:
if (fusedRotRateData.rotRateTotalSusMgm.isValid() and if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) < VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) { acsParameters.detumbleParameter.omegaDetumbleEnd) and
(attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd)) {
detumbleCounter++; detumbleCounter++;
} else if (detumbleCounter > 0) { } else if (detumbleCounter > 0) {
detumbleCounter -= 1; detumbleCounter -= 1;