Marius Eggert
4aecd07970
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52 lines
2.2 KiB
C++
52 lines
2.2 KiB
C++
/*
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* Navigation.cpp
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*
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* Created on: 23 May 2022
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* Author: Robin Marquardt
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*/
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#include "Navigation.h"
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <math.h>
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
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acsParameters = *acsParameters_;
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}
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Navigation::~Navigation() {}
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void Navigation::useMekf(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
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ReturnValue_t *mekfValid) {
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double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
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sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
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bool quatJBValid =
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(sensorValues->strSet.caliQx.isValid() && sensorValues->strSet.caliQy.isValid() &&
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sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid());
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if (kalmanInit) {
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*mekfValid = multiplicativeKalmanFilter.mekfEst(
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quatJB, &quatJBValid, outputValues->satRateEst, &outputValues->satRateEstValid,
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outputValues->magFieldEst, &outputValues->magFieldEstValid, outputValues->sunDirEst,
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&outputValues->sunDirEstValid, outputValues->sunDirModel, &outputValues->sunDirModelValid,
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outputValues->magFieldModel, &outputValues->magFieldModelValid, outputValues->quatMekfBJ,
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outputValues->satRateMekf); // VALIDS FOR QUAT AND RATE ??
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}
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else {
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multiplicativeKalmanFilter.init(outputValues->magFieldEst, &outputValues->magFieldEstValid,
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outputValues->sunDirEst, &outputValues->sunDirEstValid,
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outputValues->sunDirModel, &outputValues->sunDirModelValid,
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outputValues->magFieldModel, &outputValues->magFieldModelValid);
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kalmanInit = true;
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*mekfValid = 0;
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// Maybe we need feedback from kalmanfilter to identify if there was a problem with the init
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//of kalman filter where does this class know from that kalman filter was not initialized ?
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}
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}
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