633 lines
26 KiB
C++
633 lines
26 KiB
C++
#include "AcsController.h"
|
|
|
|
#include <fsfw/datapool/PoolReadGuard.h>
|
|
|
|
#include "mission/config/torquer.h"
|
|
|
|
AcsController::AcsController(object_id_t objectId)
|
|
: ExtendedControllerBase(objectId),
|
|
sensorProcessing(&acsParameters),
|
|
navigation(&acsParameters),
|
|
actuatorCmd(&acsParameters),
|
|
guidance(&acsParameters),
|
|
safeCtrl(&acsParameters),
|
|
detumble(&acsParameters),
|
|
ptgCtrl(&acsParameters),
|
|
detumbleCounter{0},
|
|
mgmDataRaw(this),
|
|
mgmDataProcessed(this),
|
|
susDataRaw(this),
|
|
susDataProcessed(this),
|
|
gyrDataRaw(this),
|
|
gyrDataProcessed(this),
|
|
gpsDataProcessed(this),
|
|
mekfData(this),
|
|
ctrlValData(this),
|
|
actuatorCmdData(this) {}
|
|
|
|
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void AcsController::performControlOperation() {
|
|
switch (internalState) {
|
|
case InternalState::STARTUP: {
|
|
initialCountdown.resetTimer();
|
|
internalState = InternalState::INITIAL_DELAY;
|
|
return;
|
|
}
|
|
case InternalState::INITIAL_DELAY: {
|
|
if (initialCountdown.hasTimedOut()) {
|
|
internalState = InternalState::READY;
|
|
}
|
|
return;
|
|
}
|
|
case InternalState::READY: {
|
|
if (mode != MODE_OFF) {
|
|
switch (submode) {
|
|
case SUBMODE_SAFE:
|
|
performSafe();
|
|
break;
|
|
case SUBMODE_DETUMBLE:
|
|
performDetumble();
|
|
break;
|
|
case SUBMODE_PTG_TARGET:
|
|
case SUBMODE_PTG_NADIR:
|
|
case SUBMODE_PTG_INERTIAL:
|
|
performPointingCtrl();
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
|
|
{
|
|
PoolReadGuard pg(&mgmDataRaw);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
copyMgmData();
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&susDataRaw);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
copySusData();
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&gyrDataRaw);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
copyGyrData();
|
|
}
|
|
}
|
|
}
|
|
|
|
void AcsController::performSafe() {
|
|
// Concept: SAFE MODE WITH MEKF
|
|
// -do the sensor processing, maybe is does make more sense do call this class function in
|
|
// another place since we have to do it for every mode regardless of safe or not
|
|
|
|
ACS::SensorValues sensorValues;
|
|
|
|
timeval now;
|
|
Clock::getClock_timeval(&now);
|
|
|
|
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
|
|
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
|
|
ReturnValue_t validMekf;
|
|
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
|
|
&mekfData, &validMekf);
|
|
|
|
// Give desired satellite rate and sun direction to align
|
|
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
|
|
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
|
|
// IF MEKF is working
|
|
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
|
|
bool magMomMtqValid = false;
|
|
if (validMekf == returnvalue::OK) {
|
|
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
|
|
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
|
|
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
|
|
mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
|
|
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
|
|
} else {
|
|
safeCtrl.safeNoMekf(
|
|
now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
|
|
susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
|
|
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
|
|
mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
|
|
sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
|
|
}
|
|
|
|
double dipolCmdUnits[3] = {0, 0, 0};
|
|
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
|
|
|
|
{
|
|
PoolReadGuard pg(&ctrlValData);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
double zeroQuat[4] = {0, 0, 0, 0};
|
|
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
|
|
ctrlValData.tgtQuat.setValid(false);
|
|
std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
|
|
ctrlValData.errQuat.setValid(false);
|
|
ctrlValData.errAng.value = errAng;
|
|
ctrlValData.errAng.setValid(true);
|
|
ctrlValData.setValidity(true, false);
|
|
}
|
|
}
|
|
|
|
// Detumble check and switch
|
|
if (mekfData.satRotRateMekf.isValid() &&
|
|
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
|
|
acsParameters.detumbleParameter.omegaDetumbleStart) {
|
|
detumbleCounter++;
|
|
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
|
|
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
|
|
acsParameters.detumbleParameter.omegaDetumbleStart) {
|
|
detumbleCounter++;
|
|
} else {
|
|
detumbleCounter = 0;
|
|
}
|
|
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
|
submode = SUBMODE_DETUMBLE;
|
|
detumbleCounter = 0;
|
|
triggerEvent(SAFE_RATE_VIOLATION);
|
|
}
|
|
|
|
{
|
|
PoolReadGuard pg(&actuatorCmdData);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
int32_t zeroVec[4] = {0, 0, 0, 0};
|
|
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
|
|
actuatorCmdData.rwTargetTorque.setValid(false);
|
|
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
|
|
actuatorCmdData.rwTargetSpeed.setValid(false);
|
|
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
|
|
actuatorCmdData.mtqTargetDipole.setValid(true);
|
|
actuatorCmdData.setValidity(true, false);
|
|
}
|
|
}
|
|
// {
|
|
// PoolReadGuard pg(&dipoleSet);
|
|
// MutexGuard mg(torquer::lazyLock());
|
|
// torquer::NEW_ACTUATION_FLAG = true;
|
|
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
|
|
// }
|
|
}
|
|
|
|
void AcsController::performDetumble() {
|
|
ACS::SensorValues sensorValues;
|
|
|
|
timeval now;
|
|
Clock::getClock_timeval(&now);
|
|
|
|
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
|
|
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
|
|
ReturnValue_t validMekf;
|
|
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
|
|
&mekfData, &validMekf);
|
|
|
|
double magMomMtq[3] = {0, 0, 0};
|
|
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
|
|
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
|
|
mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
|
|
double dipolCmdUnits[3] = {0, 0, 0};
|
|
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
|
|
|
|
if (mekfData.satRotRateMekf.isValid() &&
|
|
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
|
|
acsParameters.detumbleParameter.omegaDetumbleEnd) {
|
|
detumbleCounter++;
|
|
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
|
|
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
|
|
acsParameters.detumbleParameter.omegaDetumbleEnd) {
|
|
detumbleCounter++;
|
|
} else {
|
|
detumbleCounter = 0;
|
|
}
|
|
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
|
submode = SUBMODE_SAFE;
|
|
detumbleCounter = 0;
|
|
}
|
|
|
|
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
|
|
for (int i = 0; i < 3; ++i) {
|
|
cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
|
|
}
|
|
{
|
|
PoolReadGuard pg(&actuatorCmdData);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(double));
|
|
actuatorCmdData.rwTargetTorque.setValid(false);
|
|
std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
|
|
actuatorCmdData.rwTargetSpeed.setValid(false);
|
|
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
|
|
actuatorCmdData.mtqTargetDipole.setValid(true);
|
|
actuatorCmdData.setValidity(true, false);
|
|
}
|
|
}
|
|
// {
|
|
// PoolReadGuard pg(&dipoleSet);
|
|
// MutexGuard mg(torquer::lazyLock());
|
|
// torquer::NEW_ACTUATION_FLAG = true;
|
|
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
|
|
// torqueDuration);
|
|
// }
|
|
}
|
|
|
|
void AcsController::performPointingCtrl() {
|
|
ACS::SensorValues sensorValues;
|
|
|
|
timeval now;
|
|
Clock::getClock_timeval(&now);
|
|
|
|
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
|
|
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
|
|
ReturnValue_t validMekf;
|
|
navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
|
|
&mekfData, &validMekf);
|
|
|
|
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
|
|
guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
|
|
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
|
|
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
|
|
guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
|
|
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
|
|
double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
|
|
ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
|
|
double rwTrqNs[4] = {0, 0, 0, 0};
|
|
ptgCtrl.ptgNullspace(
|
|
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
|
|
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
|
|
double cmdSpeedRws[4] = {0, 0, 0, 0}; // Should be given to the actuator reaction wheel as input
|
|
actuatorCmd.cmdSpeedToRws(
|
|
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
|
|
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
|
|
rwTrqNs, cmdSpeedRws);
|
|
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
|
|
ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
|
|
mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
|
|
&(sensorValues.rw2Set.currSpeed.value),
|
|
&(sensorValues.rw3Set.currSpeed.value),
|
|
&(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
|
|
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
|
|
|
|
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
|
|
for (int i = 0; i < 3; ++i) {
|
|
cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
|
|
}
|
|
int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
|
|
for (int i = 0; i < 4; ++i) {
|
|
cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
|
|
}
|
|
|
|
{
|
|
PoolReadGuard pg(&actuatorCmdData);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
|
|
std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
|
|
std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
|
|
actuatorCmdData.setValidity(true, true);
|
|
}
|
|
}
|
|
// {
|
|
// PoolReadGuard pg(&dipoleSet);
|
|
// MutexGuard mg(torquer::lazyLock());
|
|
// torquer::NEW_ACTUATION_FLAG = true;
|
|
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
|
|
// torqueDuration);
|
|
// }
|
|
}
|
|
|
|
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
|
LocalDataPoolManager &poolManager) {
|
|
// MGM Raw
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2VecRaw);
|
|
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, 5.0});
|
|
// MGM Processed
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
|
|
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(), false, 5.0});
|
|
// 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);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7ValRaw);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8ValRaw);
|
|
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, 5.0});
|
|
// SUS Processed
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_VEC, &sus2VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_VEC, &sus3VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_VEC, &sus4VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_VEC, &sus5VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_VEC, &sus6VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_VEC, &sus7VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_VEC, &sus8VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_VEC, &sus9VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_VEC, &sus10VecProc);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_VEC, &sus11VecProc);
|
|
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(), false, 5.0});
|
|
// 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, 5.0});
|
|
// 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(), false, 5.0});
|
|
// GPS Processed
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
|
|
poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
|
|
// MEKF
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
|
|
poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
|
|
// Ctrl Values
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
|
|
localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
|
|
poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
|
|
// 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(), false, 5.0});
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
|
|
switch (sid.ownerSetId) {
|
|
case acsctrl::MGM_SENSOR_DATA:
|
|
return &mgmDataRaw;
|
|
case acsctrl::MGM_PROCESSED_DATA:
|
|
return &mgmDataProcessed;
|
|
case acsctrl::SUS_SENSOR_DATA:
|
|
return &susDataRaw;
|
|
case acsctrl::SUS_PROCESSED_DATA:
|
|
return &susDataProcessed;
|
|
case acsctrl::GYR_SENSOR_DATA:
|
|
return &gyrDataRaw;
|
|
case acsctrl::GYR_PROCESSED_DATA:
|
|
return &gyrDataProcessed;
|
|
case acsctrl::GPS_PROCESSED_DATA:
|
|
return &gpsDataProcessed;
|
|
case acsctrl::MEKF_DATA:
|
|
return &mekfData;
|
|
case acsctrl::CTRL_VAL_DATA:
|
|
return &ctrlValData;
|
|
case acsctrl::ACTUATOR_CMD_DATA:
|
|
return &actuatorCmdData;
|
|
default:
|
|
return nullptr;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
|
|
uint32_t *msToReachTheMode) {
|
|
if (mode == MODE_OFF) {
|
|
if (submode == SUBMODE_NONE) {
|
|
return returnvalue::OK;
|
|
} else {
|
|
return INVALID_SUBMODE;
|
|
}
|
|
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
|
|
if ((submode > 6) || (submode < 2)) {
|
|
return INVALID_SUBMODE;
|
|
} else {
|
|
return returnvalue::OK;
|
|
}
|
|
}
|
|
return INVALID_MODE;
|
|
}
|
|
|
|
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
|
|
|
|
void AcsController::announceMode(bool recursive) {}
|
|
|
|
void AcsController::copyMgmData() {
|
|
ACS::SensorValues sensorValues;
|
|
{
|
|
PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(mgmDataRaw.mgm0Lis3.value, sensorValues.mgm0Lis3Set.fieldStrengths.value,
|
|
3 * sizeof(float));
|
|
mgmDataRaw.mgm0Lis3.setValid(sensorValues.mgm0Lis3Set.fieldStrengths.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.mgm1Rm3100Set);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(mgmDataRaw.mgm1Rm3100.value, sensorValues.mgm1Rm3100Set.fieldStrengths.value,
|
|
3 * sizeof(float));
|
|
mgmDataRaw.mgm1Rm3100.setValid(sensorValues.mgm1Rm3100Set.fieldStrengths.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.mgm2Lis3Set);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(mgmDataRaw.mgm2Lis3.value, sensorValues.mgm2Lis3Set.fieldStrengths.value,
|
|
3 * sizeof(float));
|
|
mgmDataRaw.mgm2Lis3.setValid(sensorValues.mgm2Lis3Set.fieldStrengths.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.mgm3Rm3100Set);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(mgmDataRaw.mgm3Rm3100.value, sensorValues.mgm3Rm3100Set.fieldStrengths.value,
|
|
3 * sizeof(float));
|
|
mgmDataRaw.mgm3Rm3100.setValid(sensorValues.mgm3Rm3100Set.fieldStrengths.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.imtqMgmSet);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(mgmDataRaw.imtqRaw.value, sensorValues.imtqMgmSet.mtmRawNt.value,
|
|
3 * sizeof(float));
|
|
mgmDataRaw.imtqRaw.setValid(sensorValues.imtqMgmSet.mtmRawNt.isValid());
|
|
mgmDataRaw.actuationCalStatus.value = sensorValues.imtqMgmSet.coilActuationStatus.value;
|
|
mgmDataRaw.actuationCalStatus.setValid(sensorValues.imtqMgmSet.coilActuationStatus.isValid());
|
|
}
|
|
}
|
|
}
|
|
|
|
void AcsController::copySusData() {
|
|
ACS::SensorValues sensorValues;
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[0]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus0.setValid(sensorValues.susSets[0].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[1]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus1.value, sensorValues.susSets[1].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus1.setValid(sensorValues.susSets[1].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[2]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus2.value, sensorValues.susSets[2].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus2.setValid(sensorValues.susSets[2].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[3]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus3.value, sensorValues.susSets[3].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus3.setValid(sensorValues.susSets[3].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[4]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus4.value, sensorValues.susSets[4].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus4.setValid(sensorValues.susSets[4].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[5]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus5.value, sensorValues.susSets[5].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus5.setValid(sensorValues.susSets[5].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[6]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus6.value, sensorValues.susSets[6].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus6.setValid(sensorValues.susSets[6].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[7]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus7.value, sensorValues.susSets[7].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus7.setValid(sensorValues.susSets[7].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[8]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus8.value, sensorValues.susSets[8].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus8.setValid(sensorValues.susSets[8].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[9]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus9.value, sensorValues.susSets[9].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus9.setValid(sensorValues.susSets[9].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[10]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus10.value, sensorValues.susSets[10].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus10.setValid(sensorValues.susSets[10].channels.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.susSets[11]);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
std::memcpy(susDataRaw.sus11.value, sensorValues.susSets[11].channels.value,
|
|
6 * sizeof(uint16_t));
|
|
susDataRaw.sus11.setValid(sensorValues.susSets[11].channels.isValid());
|
|
}
|
|
}
|
|
}
|
|
|
|
void AcsController::copyGyrData() {
|
|
ACS::SensorValues sensorValues;
|
|
{
|
|
PoolReadGuard pg(&sensorValues.gyr0AdisSet);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
gyrDataRaw.gyr0Adis.value[0] = sensorValues.gyr0AdisSet.angVelocX.value;
|
|
gyrDataRaw.gyr0Adis.value[1] = sensorValues.gyr0AdisSet.angVelocY.value;
|
|
gyrDataRaw.gyr0Adis.value[2] = sensorValues.gyr0AdisSet.angVelocZ.value;
|
|
gyrDataRaw.gyr0Adis.setValid(sensorValues.gyr0AdisSet.angVelocX.isValid() &&
|
|
sensorValues.gyr0AdisSet.angVelocY.isValid() &&
|
|
sensorValues.gyr0AdisSet.angVelocZ.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.gyr1L3gSet);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
gyrDataRaw.gyr1L3.value[0] = sensorValues.gyr1L3gSet.angVelocX.value;
|
|
gyrDataRaw.gyr1L3.value[1] = sensorValues.gyr1L3gSet.angVelocY.value;
|
|
gyrDataRaw.gyr1L3.value[2] = sensorValues.gyr1L3gSet.angVelocZ.value;
|
|
gyrDataRaw.gyr1L3.setValid(sensorValues.gyr1L3gSet.angVelocX.isValid() &&
|
|
sensorValues.gyr1L3gSet.angVelocY.isValid() &&
|
|
sensorValues.gyr1L3gSet.angVelocZ.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.gyr2AdisSet);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
gyrDataRaw.gyr2Adis.value[0] = sensorValues.gyr2AdisSet.angVelocX.value;
|
|
gyrDataRaw.gyr2Adis.value[1] = sensorValues.gyr2AdisSet.angVelocY.value;
|
|
gyrDataRaw.gyr2Adis.value[2] = sensorValues.gyr2AdisSet.angVelocZ.value;
|
|
gyrDataRaw.gyr2Adis.setValid(sensorValues.gyr2AdisSet.angVelocX.isValid() &&
|
|
sensorValues.gyr2AdisSet.angVelocY.isValid() &&
|
|
sensorValues.gyr2AdisSet.angVelocZ.isValid());
|
|
}
|
|
}
|
|
{
|
|
PoolReadGuard pg(&sensorValues.gyr3L3gSet);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
gyrDataRaw.gyr3L3.value[0] = sensorValues.gyr3L3gSet.angVelocX.value;
|
|
gyrDataRaw.gyr3L3.value[1] = sensorValues.gyr3L3gSet.angVelocY.value;
|
|
gyrDataRaw.gyr3L3.value[2] = sensorValues.gyr3L3gSet.angVelocZ.value;
|
|
gyrDataRaw.gyr3L3.setValid(sensorValues.gyr3L3gSet.angVelocX.isValid() &&
|
|
sensorValues.gyr3L3gSet.angVelocY.isValid() &&
|
|
sensorValues.gyr3L3gSet.angVelocZ.isValid());
|
|
}
|
|
}
|
|
}
|