meggert
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294 lines
12 KiB
C++
294 lines
12 KiB
C++
#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
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#define MISSION_CONTROLLER_ACSCONTROLLER_H_
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#include <eive/objects.h>
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#include <fsfw/controller/ExtendedControllerBase.h>
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#include <fsfw/coordinates/Sgp4Propagator.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <fsfw/health/HealthTable.h>
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#include <fsfw/parameters/ParameterHelper.h>
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#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
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#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
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#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
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#include <mission/acs/defs.h>
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#include <mission/acs/imtqHelpers.h>
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#include <mission/acs/rwHelpers.h>
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#include <mission/acs/susMax1227Helpers.h>
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#include <mission/config/torquer.h>
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#include <mission/controller/acs/ActuatorCmd.h>
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#include <mission/controller/acs/AttitudeEstimation.h>
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#include <mission/controller/acs/FusedRotationEstimation.h>
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#include <mission/controller/acs/Guidance.h>
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#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
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#include <mission/controller/acs/Navigation.h>
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#include <mission/controller/acs/SensorProcessing.h>
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#include <mission/controller/acs/control/Detumble.h>
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#include <mission/controller/acs/control/PtgCtrl.h>
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#include <mission/controller/acs/control/SafeCtrl.h>
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#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
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#include <mission/memory/SdCardMountedIF.h>
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#include <mission/utility/trace.h>
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#include <filesystem>
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#include <fstream>
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#include <optional>
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class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
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public:
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static constexpr dur_millis_t INIT_DELAY = 500;
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AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
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MessageQueueId_t getCommandQueue() const;
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ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
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ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
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uint16_t startAtIndex) override;
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protected:
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private:
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static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
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static constexpr double ZERO_VEC3[3] = {0, 0, 0};
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static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
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static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
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static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
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bool enableHkSets = false;
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SdCardMountedIF& sdcMan;
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timeval timeAbsolute;
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timeval timeRelative;
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double timeDelta = 0.0;
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timeval oldTimeRelative;
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AcsParameters acsParameters;
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SensorProcessing sensorProcessing;
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AttitudeEstimation attitudeEstimation;
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FusedRotationEstimation fusedRotationEstimation;
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Navigation navigation;
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ActuatorCmd actuatorCmd;
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Guidance guidance;
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SafeCtrl safeCtrl;
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Detumble detumble;
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PtgCtrl ptgCtrl;
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ParameterHelper parameterHelper;
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bool tleTooOldFlag = false;
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uint8_t detumbleCounter = 0;
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uint8_t multipleRwUnavailableCounter = 0;
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bool mekfInvalidFlag = false;
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uint16_t ptgCtrlLostCounter = 0;
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bool safeCtrlFailureFlag = false;
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uint8_t safeCtrlFailureCounter = 0;
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uint8_t resetMekfCount = 0;
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bool mekfLost = false;
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int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
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int16_t cmdDipoleMtqs[3] = {0, 0, 0};
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#if OBSW_THREAD_TRACING == 1
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uint32_t opCounter = 0;
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#endif
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enum class InternalState { STARTUP, INITIAL_DELAY, READY };
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InternalState internalState = InternalState::STARTUP;
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enum class DetumbleState {
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NO_DETUMBLE,
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DETUMBLE_FROM_PTG,
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PTG_TO_SAFE_TRANSITION,
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DETUMBLE_FROM_SAFE,
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IN_DETUMBLE
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};
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DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
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/** Device command IDs */
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static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
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static const DeviceCommandId_t RESET_MEKF = 0x1;
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static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
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static const DeviceCommandId_t UPDATE_TLE = 0x3;
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static const DeviceCommandId_t READ_TLE = 0x4;
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static const DeviceCommandId_t UPDATE_STANDARD_DEVIATIONS = 0x5;
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ReturnValue_t initialize() override;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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void performControlOperation() override;
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/* HasActionsIF overrides */
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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void modeChanged(Mode_t mode, Submode_t submode);
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void announceMode(bool recursive);
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void performAttitudeControl();
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void performSafe();
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void performDetumble();
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void performPointingCtrl();
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void handleDetumbling();
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void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
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ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration);
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ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
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int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
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void updateActuatorCmdData(const int16_t* mtqTargetDipole);
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void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
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const int16_t* mtqTargetDipole);
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void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
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void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
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void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
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const double* tgtRotRate, acs::ControlModeStrategy cStrat);
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ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
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ReturnValue_t writeTleToFs(const uint8_t* tle);
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ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
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const std::string TLE_FILE = "/conf/tle.txt";
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/* ACS Sensor Values */
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ACS::SensorValues sensorValues;
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/* ACS Actuation Datasets */
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imtq::DipoleActuationSet dipoleSet = imtq::DipoleActuationSet(objects::IMTQ_HANDLER);
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rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
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rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
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rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
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rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
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/* ACS Datasets */
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// MGMs
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acsctrl::MgmDataRaw mgmDataRaw;
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PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
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PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
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PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
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PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
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void copyMgmData();
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acsctrl::MgmDataProcessed mgmDataProcessed;
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PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
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PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
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PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
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PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
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PoolEntry<double> magIgrf = PoolEntry<double>(3);
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// SUSs
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acsctrl::SusDataRaw susDataRaw;
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PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
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PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
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void copySusData();
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acsctrl::SusDataProcessed susDataProcessed;
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PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
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PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
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PoolEntry<double> susVecTot = PoolEntry<double>(3);
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PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
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PoolEntry<double> sunIjk = PoolEntry<double>(3);
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// GYRs
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acsctrl::GyrDataRaw gyrDataRaw;
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PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
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PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
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PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
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PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
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void copyGyrData();
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acsctrl::GyrDataProcessed gyrDataProcessed;
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PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
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PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
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// GPS
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acsctrl::GpsDataProcessed gpsDataProcessed;
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PoolEntry<double> gcLatitude = PoolEntry<double>();
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PoolEntry<double> gdLongitude = PoolEntry<double>();
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PoolEntry<double> altitude = PoolEntry<double>();
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PoolEntry<double> gpsPosition = PoolEntry<double>(3);
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PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
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PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();
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// Attitude Estimation
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acsctrl::AttitudeEstimationData attitudeEstimationData;
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PoolEntry<double> quatMekf = PoolEntry<double>(4);
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PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
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PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
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PoolEntry<double> quatQuest = PoolEntry<double>(4);
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// Ctrl Values
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acsctrl::CtrlValData ctrlValData;
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PoolEntry<uint8_t> safeStrat = PoolEntry<uint8_t>();
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PoolEntry<double> tgtQuat = PoolEntry<double>(4);
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PoolEntry<double> errQuat = PoolEntry<double>(4);
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PoolEntry<double> errAng = PoolEntry<double>();
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PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
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// Actuator CMD
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acsctrl::ActuatorCmdData actuatorCmdData;
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PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
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PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
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PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
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// Fused Rot Rate
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acsctrl::FusedRotRateData fusedRotRateData;
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PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
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PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
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PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
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// Fused Rot Rate Sources
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acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
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PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
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PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(INIT_DELAY);
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// Countdown after which the detumbling mode change should have been finished
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static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
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Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
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};
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#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */
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