eive-obsw/mission/controller/acs/SensorProcessing.h
Marius Eggert 28dfcbf0ef
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added SensorProcessing
2022-09-19 15:44:14 +02:00

90 lines
3.2 KiB
C++

/*******************************
* EIVE Flight Software Framework (FSFW)
* (c) 2022 IRS, Uni Stuttgart
*******************************/
#ifndef SENSORPROCESSING_H_
#define SENSORPROCESSING_H_
#include <stdint.h> //uint8_t
#include <time.h> /*purpose, timeval ?*/
#include "acs/config/classIds.h"
#include <fsfw/src/fsfw/returnvalues/HasReturnvaluesIF.h>
#include "AcsParameters.h"
#include <acs/SensorValues.h>
#include <acs/OutputValues.h>
/*Planned:
* - Fusion of Sensor Measurements -
* sunDirEst (mean value)
* magField (mean value)
* rmuSatRate (rmus, mean value)
* - Models to get inertia values -
* sunModelDir (input: time)
* magModelField (input: position,time)
* - Low Pass Filter maybe -
* magField
* SunDirEst*/
class SensorProcessing: public HasReturnvaluesIF{
public:
void reset();
SensorProcessing(AcsParameters *acsParameters_);
virtual ~SensorProcessing();
void process(timeval now, ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
const AcsParameters *acsParameters); // Will call protected functions
private:
protected:
// short description needed for every function
bool processMgm(const float *mgm0Value, bool mgm0valid,
const float *mgm1Value, bool mgm1valid,
const float *mgm2Value, bool mgm2valid,
const float *mgm3Value, bool mgm3valid,
const float *mgm4Value, bool mgm4valid,
timeval timeOfMgmMeasurement,
const AcsParameters::MgmHandlingParameters *mgmParameters,
const double gpsLatitude, const double gpsLongitude,
const double gpsAltitude, bool gpsValid,
double *magFieldEst, bool *outputValid,
double *magFieldModel, bool*magFieldModelValid,
double *magneticFieldVectorDerivative, bool *magneticFieldVectorDerivativeValid); //Output
void processSus(const float sus0Value[], bool sus0valid, const float sus1Value[], bool sus1valid,
const float sus2Value[], bool sus2valid, const float sus3Value[], bool sus3valid,
const float sus4Value[], bool sus4valid, const float sus5Value[], bool sus5valid,
const float sus6Value[], bool sus6valid, const float sus7Value[], bool sus7valid,
const float sus8Value[], bool sus8valid, const float sus9Value[], bool sus9valid,
const float sus10Value[], bool sus10valid, const float sus11Value[], bool sus11valid,
timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst, bool *sunDirEstValid,
double *sunVectorModel, bool *sunVectorModelValid,
double *sunVectorDerivative, bool *sunVectorDerivativeValid);
void processRmu(const double rmu0Value[], bool rmu0valid, // processRmu
const double rmu1Value[], bool rmu1valid,
const double rmu2Value[], bool rmu2valid,
timeval timeOfrmuMeasurement, const AcsParameters::RmuHandlingParameters *rmuParameters,
double *satRatEst, bool *satRateEstValid);
void processStr();
void processGps(const double gps0latitude, const double gps0longitude,
const bool validGps, double *gcLatitude, double *gdLongitude);
double savedMagFieldEst[3];
timeval timeOfSavedMagFieldEst;
double savedSunVector[3];
timeval timeOfSavedSusDirEst;
bool validMagField;
bool validGcLatitude;
};
#endif SENSORPROCESSING_H_