Marius Eggert
cd11e08193
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EIVE/eive-obsw/pipeline/head This commit looks good
378 lines
16 KiB
C++
378 lines
16 KiB
C++
/*
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* SusConverter.cpp
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*
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* Created on: 17.01.2022
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* Author: Timon Schwarz
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*/
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#include <math.h> //for atan2
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#include <iostream>
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#include <SusConverter.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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void SunSensor::setSunSensorData() {
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// Creates dummy sensordata, replace with SUS devicehandler / channel readout
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susChannelValues[0] = {3913, 3912, 3799, 4056};
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susChannelValues[1] = {3913, 3912, 3799, 4056};
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susChannelValues[2] = {3913, 3912, 3799, 4056};
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susChannelValues[3] = {3913, 3912, 3799, 4056};
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susChannelValues[4] = {3913, 3912, 3799, 4056};
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susChannelValues[5] = {3913, 3912, 3799, 4056};
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susChannelValues[6] = {3913, 3912, 3799, 4056};
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susChannelValues[7] = {3913, 3912, 3799, 4056};
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susChannelValues[8] = {3913, 3912, 3799, 4056};
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susChannelValues[9] = {3913, 3912, 3799, 4056};
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susChannelValues[10] = {3913, 3912, 3799, 4056};
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susChannelValues[11] = {3913, 3912, 3799, 4056};
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}
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void SunSensor::checkSunSensorData(uint8_t Sensornumber) {
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uint16_t ChannelValueSum;
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// Check individual channel values
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for (int k = 0; k < 4; k++) { // iteration above all photodiode quarters
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if (susChannelValues[Sensornumber][k] <= ChannelValueCheckLow ||
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susChannelValues[Sensornumber][k] > ChannelValueCheckHigh) { // Channel values out of range for 12 bit SUS
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// channel measurement range?
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ValidityNumber[Sensornumber] = false; // false --> Data not valid
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/*printf(
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"The value of channel %i from sun sensor %i is not inside the borders of valid data with "
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"a value of %i \n",
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k, Sensornumber, ChannelValue[k]);*/
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} else if (susChannelValues[Sensornumber][k] >
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susChannelValues[Sensornumber][4]) { // Channel values higher than zero current threshold GNDREF?
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ValidityNumber[Sensornumber] = false;
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/*printf(
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"The value of channel %i from sun sensor %i is higher than the zero current threshold "
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"GNDREF\n",
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k, Sensornumber);*/
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};
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};
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// check sum of all channel values to check if sun sensor is illuminated by the sun (sum is
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// smaller than a treshold --> sun sensor is not illuminated by the sun, but by the moon
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// reflection or earth albedo)
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ChannelValueSum =
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4 * susChannelValues[Sensornumber][4] - (susChannelValues[Sensornumber][0] +
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susChannelValues[Sensornumber][1] + susChannelValues[Sensornumber][2] +
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susChannelValues[Sensornumber][3]);
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if ((ChannelValueSum < ChannelValueSumHigh) && (ChannelValueSum > ChannelValueSumLow)) {
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ValidityNumber[Sensornumber] = false;
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//printf("Sun sensor %i is not illuminated by the sun\n", Sensornumber);
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};
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}
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void SunSensor::AngleCalculation(uint8_t Sensornumber) {
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float xout, yout, s = 0.03; // s=[mm]
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uint8_t d = 5, h = 1; // d=[mm] h=[mm]
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int ch0, ch1, ch2, ch3;
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// Substract measurement values from GNDREF zero current threshold
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ch0 = susChannelValues[Sensornumber][4] - susChannelValues[Sensornumber][0];
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ch1 = susChannelValues[Sensornumber][4] - susChannelValues[Sensornumber][1];
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ch2 = susChannelValues[Sensornumber][4] - susChannelValues[Sensornumber][2];
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ch3 = susChannelValues[Sensornumber][4] - susChannelValues[Sensornumber][3];
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// Calculation of x and y
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xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
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yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
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// Calculation of the angles
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AlphaBetaRaw[Sensornumber][0] = atan2(xout, h) * (180 / M_PI); //[°]
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AlphaBetaRaw[Sensornumber][1] = atan2(yout, h) * (180 / M_PI); //[°]
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}
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void SunSensor::setCalibrationCoefficients(uint8_t Sensornumber) {
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switch (Sensornumber) { // search for the correct calibration coefficients for each SUS
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case 0:
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for (uint8_t row = 0; row < 9;
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row++) { // save the correct coefficients in the right SUS class
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus0coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus0coeffBeta[row][column];
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}
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}
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break;
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case 1:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus1coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus1coeffBeta[row][column];
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}
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}
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break;
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case 2:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus2coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus2coeffBeta[row][column];
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}
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}
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break;
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case 3:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus3coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus3coeffBeta[row][column];
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}
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}
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break;
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case 4:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus4coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus4coeffBeta[row][column];
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}
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}
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break;
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case 5:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus5coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus5coeffBeta[row][column];
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}
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}
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break;
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case 6:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus6coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus6coeffBeta[row][column];
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}
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}
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break;
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case 7:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus7coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus7coeffBeta[row][column];
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}
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}
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break;
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case 8:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus8coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus8coeffBeta[row][column];
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}
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}
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break;
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case 9:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus9coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus9coeffBeta[row][column];
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}
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}
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break;
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case 10:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus10coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus10coeffBeta[row][column];
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}
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}
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break;
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case 11:
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for (uint8_t row = 0; row < 9; row++) {
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for (uint8_t column = 0; column < 10; column++) {
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CoeffAlpha[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus11coeffAlpha[row][column];
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CoeffBeta[Sensornumber][row][column] = acsParameters.susHandlingParameters.sus11coeffBeta[row][column];
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}
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}
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break;
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}
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}
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void SunSensor::Calibration(uint8_t Sensornumber) {
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float alpha_m, beta_m, alpha_calibrated, beta_calibrated, k, l;
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uint8_t index;
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alpha_m = AlphaBetaRaw[Sensornumber][0]; //[°]
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beta_m = AlphaBetaRaw[Sensornumber][1]; //[°]
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// while loop iterates above all calibration cells to use the different calibration functions in
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// each cell
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k = 0;
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while (k < 3) {
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k = k + 1;
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l = 0;
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while (l < 3) {
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l = l + 1;
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// if-condition to check in which cell the data point has to be
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if ((alpha_m > ((CompleteCellWidth * ((k - 1) / 3)) - HalfCellWidth) &&
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alpha_m < ((CompleteCellWidth * (k / 3)) - HalfCellWidth)) &&
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(beta_m > ((CompleteCellWidth * ((l - 1) / 3)) - HalfCellWidth) &&
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beta_m < ((CompleteCellWidth * (l / 3)) - HalfCellWidth))) {
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index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
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// -> first cell has number 0
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AlphaBetaCalibrated[Sensornumber][0] =
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CoeffAlpha[Sensornumber][index][0] + CoeffAlpha[Sensornumber][index][1] * alpha_m + CoeffAlpha[Sensornumber][index][2] * beta_m +
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CoeffAlpha[Sensornumber][index][3] * alpha_m * alpha_m + CoeffAlpha[Sensornumber][index][4] * alpha_m * beta_m +
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CoeffAlpha[Sensornumber][index][5] * beta_m * beta_m +
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CoeffAlpha[Sensornumber][index][6] * alpha_m * alpha_m * alpha_m +
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CoeffAlpha[Sensornumber][index][7] * alpha_m * alpha_m * beta_m +
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CoeffAlpha[Sensornumber][index][8] * alpha_m * beta_m * beta_m +
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CoeffAlpha[Sensornumber][index][9] * beta_m * beta_m * beta_m; //[°]
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AlphaBetaCalibrated[Sensornumber][1] =
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CoeffBeta[Sensornumber][index][0] + CoeffBeta[Sensornumber][index][1] * alpha_m +
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CoeffBeta[Sensornumber][index][2] * beta_m + CoeffBeta[Sensornumber][index][3] * alpha_m * alpha_m +
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CoeffBeta[Sensornumber][index][4] * alpha_m * beta_m +
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CoeffBeta[Sensornumber][index][5] * beta_m * beta_m +
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CoeffBeta[Sensornumber][index][6] * alpha_m * alpha_m * alpha_m +
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CoeffBeta[Sensornumber][index][7] * alpha_m * alpha_m * beta_m +
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CoeffBeta[Sensornumber][index][8] * alpha_m * beta_m * beta_m +
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CoeffBeta[Sensornumber][index][9] * beta_m * beta_m * beta_m; //[°]
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}
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}
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}
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}
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void SunSensor::CalculateSunVector(uint8_t Sensornumber) {
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float alpha, beta;
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alpha = AlphaBetaCalibrated[Sensornumber][0]; //[°]
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beta = AlphaBetaCalibrated[Sensornumber][1]; //[°]
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// Calculate the normalized Sun Vector
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SunVectorBodyFrame[Sensornumber][0] =
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(tan(alpha * (M_PI / 180)) /
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(sqrt((powf(tan(alpha * (M_PI / 180)), 2)) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
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SunVectorBodyFrame[Sensornumber][1] =
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(tan(beta * (M_PI / 180)) /
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(sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
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SunVectorBodyFrame[Sensornumber][2] =
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(-1 /
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(sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf((tan(beta * (M_PI / 180))), 2) + (1))));
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}
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float* SunSensor::getSunVectorBodyFrame() {
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// return function for the sun vector in the body frame
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float* SunVectorBodyFrameReturn = 0;
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SunVectorBodyFrameReturn = new float[3];
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SunVectorBodyFrameReturn[0] = SunVectorBodyFrame[0];
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SunVectorBodyFrameReturn[1] = SunVectorBodyFrame[1];
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SunVectorBodyFrameReturn[2] = SunVectorBodyFrame[2];
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return SunVectorBodyFrameReturn;
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}
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bool SunSensor::getValidityNumber(uint8_t Sensornumber) {
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return ValidityNumber[Sensornumber];
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}
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float* SunSensor::TransferSunVector() {
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float* SunVectorEIVE = 0;
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SunVectorEIVE = new float[3];
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uint8_t counter = 0;
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int8_t BasisMatrixUse[3][3];
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float SunVectorMatrixEIVE[3][12] = {0}, sum;
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float SunVectorMatrixBodyFrame[3][12];
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for (uint8_t Sensornumber = 0; Sensornumber < 12;
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Sensornumber++) { // save the sun vector of each SUS in their body frame into an array for
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// further processing
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float* SunVectorBodyFrame = SunVectorBodyFrame[Sensornumber];
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SunVectorMatrixBodyFrame[0][Sensornumber] = SunVectorBodyFrame[0];
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SunVectorMatrixBodyFrame[1][Sensornumber] = SunVectorBodyFrame[1];
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SunVectorMatrixBodyFrame[2][Sensornumber] = SunVectorBodyFrame[2];
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}
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for (uint8_t Sensornumber = 0; Sensornumber < 12; Sensornumber++) {
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if (getValidityNumber(Sensornumber) == false) {
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counter = counter + 1;
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} // if the SUS data is not valid ->
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for (uint8_t c1 = 0; c1 < 3; c1++) {
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for (uint8_t c2 = 0; c2 < 3; c2++) {
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switch (Sensornumber) { // find right basis matrix for each SUS
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case 0:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus0orientationMatrix[c1][c2];
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break;
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case 1:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus1orientationMatrix[c1][c2];
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break;
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case 2:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus2orientationMatrix[c1][c2];
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break;
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case 3:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus3orientationMatrix[c1][c2];
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break;
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case 4:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus4orientationMatrix[c1][c2];
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break;
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case 5:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus5orientationMatrix[c1][c2];
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break;
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case 6:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus6orientationMatrix[c1][c2];
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break;
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case 7:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus7orientationMatrix[c1][c2];
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break;
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case 8:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus8orientationMatrix[c1][c2];
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break;
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case 9:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus9orientationMatrix[c1][c2];
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break;
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case 10:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus10orientationMatrix[c1][c2];
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break;
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case 11:
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BasisMatrixUse[c1][c2] = acsParameters.susHandlingParameters.sus11orientationMatrix[c1][c2];
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break;
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}
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}
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}
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// matrix multiplication for transition in EIVE coordinatesystem
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for (uint8_t p = 0; p < 3; p++) {
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for (uint8_t q = 0; q < 3; q++) {
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// normal matrix multiplication
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SunVectorMatrixEIVE[p][Sensornumber] +=
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(BasisMatrixUse[p][q] * SunVectorMatrixBodyFrame[q][Sensornumber]);
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}
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}
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}
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if (counter < 12) { // Calculate one sun vector out of all sun vectors from the different SUS
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for (uint8_t i = 0; i < 3; i++) {
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sum = 0;
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for (uint8_t Sensornumber = 0; Sensornumber < 12; Sensornumber++) {
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if (getValidityNumber(Sensornumber)){
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sum += SunVectorMatrixEIVE[i][Sensornumber];
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//printf("%f\n", SunVectorMatrixEIVE[i][Sensornumber]);
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}
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}
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// ToDo: decide on length on sun vector
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SunVectorEIVE[i] =
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sum/* / (12 - counter)*/; // FLAG Ergebnis ist falsch, kann an einem Fehler im Programm
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// liegen, vermutlich aber an den falschen ChannelValues da die
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// transformierten Sonnenvektoren jedes SUS plausibel sind
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}
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VectorOperations<float>::normalize(SunVectorEIVE, SunVectorEIVE, 3);
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} else {
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// No sus is valid
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throw std::invalid_argument("No sun sensor is valid"); // throw error
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}
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return SunVectorEIVE;
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}
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