eive-obsw/mission/controller/acs/AttitudeEstimation.cpp
meggert 9833a4e043
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EIVE/eive-obsw/pipeline/head Build started...
and i wasted a day for this little shit bug
2023-12-13 16:52:42 +01:00

110 lines
5.0 KiB
C++

#include "AttitudeEstimation.h"
AttitudeEstimation::AttitudeEstimation(AcsParameters *acsParameters_) {
acsParameters = acsParameters_;
}
AttitudeEstimation::~AttitudeEstimation() {}
void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
acsctrl::MgmDataProcessed *mgmData,
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
if (not(susData->susVecTot.isValid() and susData->sunIjkModel.isValid() and
mgmData->mgmVecTot.isValid() and mgmData->magIgrfModel.isValid())) {
{
PoolReadGuard pg{attitudeEstimationData};
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(attitudeEstimationData->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
attitudeEstimationData->quatQuest.setValid(false);
}
}
return;
}
// Normalize Data
double normMgmB[3] = {0, 0, 0}, normMgmI[3] = {0, 0, 0}, normSusB[3] = {0, 0, 0},
normSusI[3] = {0, 0, 0};
VectorOperations<double>::normalize(susData->susVecTot.value, normSusB, 3);
VectorOperations<double>::normalize(susData->sunIjkModel.value, normSusI, 3);
VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normMgmB, 3);
VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normMgmI, 3);
// Create Helper Vectors
double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
helperSum[3] = {0, 0, 0};
VectorOperations<double>::cross(normSusB, normMgmB, normHelperB);
VectorOperations<double>::cross(normSusI, normMgmI, normHelperI);
VectorOperations<double>::normalize(normHelperB, normHelperB, 3);
VectorOperations<double>::normalize(normHelperI, normHelperI, 3);
VectorOperations<double>::cross(normHelperB, normHelperI, helperCross);
VectorOperations<double>::add(normHelperB, normHelperI, helperSum, 3);
// Sensor Weights
double kSus = 0, kMgm = 0;
kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSS, -2);
kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMAG, -2);
// Weighted Vectors
double weightedSusB[3] = {0, 0, 0}, weightedMgmB[3] = {0, 0, 0}, kSusVec[3] = {0, 0, 0},
kMgmVec[3] = {0, 0, 0}, kSumVec[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(normSusB, kSus, weightedSusB, 3);
VectorOperations<double>::mulScalar(normMgmB, kMgm, weightedMgmB, 3);
VectorOperations<double>::cross(weightedSusB, normSusI, kSusVec);
VectorOperations<double>::cross(weightedMgmB, normMgmI, kMgmVec);
VectorOperations<double>::add(kSusVec, kMgmVec, kSumVec, 3);
// Some weird Angles
double alpha = (1 + VectorOperations<double>::dot(normHelperB, normHelperI)) *
(VectorOperations<double>::dot(weightedSusB, normSusI) +
VectorOperations<double>::dot(weightedMgmB, normMgmI)) +
VectorOperations<double>::dot(helperCross, kSumVec);
double beta = VectorOperations<double>::dot(helperSum, kSumVec);
double gamma = std::sqrt(std::pow(alpha, 2) + std::pow(beta, 2));
// I don't even know what this is supposed to be
double constPlus =
1. / (2 * std::sqrt(gamma * (gamma + alpha) *
(1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
double constMinus =
1. / (2 * std::sqrt(gamma * (gamma - alpha) *
(1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
// Calculate Quaternion
double qBI[4] = {0, 0, 0, 0}, qRotVecTot[3] = {0, 0, 0}, qRotVecPt0[3] = {0, 0, 0},
qRotVecPt1[3] = {0, 0, 0};
if (alpha >= 0) {
// Scalar Part
qBI[3] = (gamma + alpha) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
// Rotational Vector Part
VectorOperations<double>::mulScalar(helperCross, gamma + alpha, qRotVecPt0, 3);
VectorOperations<double>::mulScalar(helperSum, beta, qRotVecPt1, 3);
VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
VectorOperations<double>::mulScalar(qBI, constPlus, qBI, 4);
QuaternionOperations::normalize(qBI, qBI);
} else {
// Scalar Part
qBI[3] = (beta) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
// Rotational Vector Part
VectorOperations<double>::mulScalar(helperCross, beta, qRotVecPt0, 3);
VectorOperations<double>::mulScalar(helperSum, gamma - alpha, qRotVecPt1, 3);
VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 4);
QuaternionOperations::normalize(qBI, qBI);
}
// Low Pass
if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
}
{
PoolReadGuard pg{attitudeEstimationData};
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(attitudeEstimationData->quatQuest.value, qBI, 4 * sizeof(double));
attitudeEstimationData->quatQuest.setValid(true);
}
}
}