#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_ #define MISSION_CONTROLLER_ACSCONTROLLER_H_ #include <fsfw/controller/ExtendedControllerBase.h> #include <fsfw/globalfunctions/math/VectorOperations.h> #include "acs/ActuatorCmd.h" #include "acs/Guidance.h" #include "acs/Navigation.h" #include "acs/SensorProcessing.h" #include "acs/control/Detumble.h" #include "acs/control/PtgCtrl.h" #include "acs/control/SafeCtrl.h" #include "controllerdefinitions/AcsCtrlDefinitions.h" #include "eive/objects.h" #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h" #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h" #include "mission/devices/devicedefinitions/SusDefinitions.h" #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h" class AcsController : public ExtendedControllerBase { public: static constexpr dur_millis_t INIT_DELAY = 500; AcsController(object_id_t objectId); protected: void performSafe(); void performDetumble(); void performPointingCtrl(); private: AcsParameters acsParameters; SensorProcessing sensorProcessing; Navigation navigation; ActuatorCmd actuatorCmd; Guidance guidance; SafeCtrl safeCtrl; Detumble detumble; PtgCtrl ptgCtrl; uint8_t detumbleCounter; enum class InternalState { STARTUP, INITIAL_DELAY, READY }; InternalState internalState = InternalState::STARTUP; ReturnValue_t handleCommandMessage(CommandMessage* message) override; void performControlOperation() override; ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; // Mode abstract functions ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode) override; void modeChanged(Mode_t mode, Submode_t submode); void announceMode(bool recursive); /* ACS Datasets */ ACS::SensorValues sensorValues; IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER); // MGMs acsctrl::MgmDataRaw mgmDataRaw; PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3); PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3); PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3); PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3); PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3); PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>(); void copyMgmData(); acsctrl::MgmDataProcessed mgmDataProcessed; PoolEntry<float> mgm0VecProc = PoolEntry<float>(3); PoolEntry<float> mgm1VecProc = PoolEntry<float>(3); PoolEntry<float> mgm2VecProc = PoolEntry<float>(3); PoolEntry<float> mgm3VecProc = PoolEntry<float>(3); PoolEntry<float> mgm4VecProc = PoolEntry<float>(3); PoolEntry<double> mgmVecTot = PoolEntry<double>(3); PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3); PoolEntry<double> magIgrf = PoolEntry<double>(3); // SUSs acsctrl::SusDataRaw susDataRaw; PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6); PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6); void copySusData(); acsctrl::SusDataProcessed susDataProcessed; PoolEntry<float> sus0VecProc = PoolEntry<float>(3); PoolEntry<float> sus1VecProc = PoolEntry<float>(3); PoolEntry<float> sus2VecProc = PoolEntry<float>(3); PoolEntry<float> sus3VecProc = PoolEntry<float>(3); PoolEntry<float> sus4VecProc = PoolEntry<float>(3); PoolEntry<float> sus5VecProc = PoolEntry<float>(3); PoolEntry<float> sus6VecProc = PoolEntry<float>(3); PoolEntry<float> sus7VecProc = PoolEntry<float>(3); PoolEntry<float> sus8VecProc = PoolEntry<float>(3); PoolEntry<float> sus9VecProc = PoolEntry<float>(3); PoolEntry<float> sus10VecProc = PoolEntry<float>(3); PoolEntry<float> sus11VecProc = PoolEntry<float>(3); PoolEntry<double> susVecTot = PoolEntry<double>(3); PoolEntry<double> susVecTotDer = PoolEntry<double>(3); PoolEntry<double> sunIjk = PoolEntry<double>(3); // GYRs acsctrl::GyrDataRaw gyrDataRaw; PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3); PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3); PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3); PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3); void copyGyrData(); acsctrl::GyrDataProcessed gyrDataProcessed; PoolEntry<double> gyr0VecProc = PoolEntry<double>(3); PoolEntry<double> gyr1VecProc = PoolEntry<double>(3); PoolEntry<double> gyr2VecProc = PoolEntry<double>(3); PoolEntry<double> gyr3VecProc = PoolEntry<double>(3); PoolEntry<double> gyrVecTot = PoolEntry<double>(3); // GPS acsctrl::GpsDataProcessed gpsDataProcessed; PoolEntry<double> gcLatitude = PoolEntry<double>(); PoolEntry<double> gdLongitude = PoolEntry<double>(); // MEKF acsctrl::MekfData mekfData; PoolEntry<double> quatMekf = PoolEntry<double>(4); PoolEntry<double> satRotRateMekf = PoolEntry<double>(3); // Ctrl Values acsctrl::CtrlValData ctrlValData; PoolEntry<double> tgtQuat = PoolEntry<double>(4); PoolEntry<double> errQuat = PoolEntry<double>(4); PoolEntry<double> errAng = PoolEntry<double>(); // Actuator CMD acsctrl::ActuatorCmdData actuatorCmdData; PoolEntry<double> rwTargetTorque = PoolEntry<double>(4); PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4); PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3); // Initial delay to make sure all pool variables have been initialized their owners Countdown initialCountdown = Countdown(INIT_DELAY); }; #endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */