eive-obsw/mission/controller/AcsController.h
Marius Eggert 4aecd07970
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
added PtgCtrl code. matched inputs to actual SensorValues inputs
2022-10-12 10:28:44 +02:00

127 lines
4.6 KiB
C++

#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <commonObjects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
class AcsController : public ExtendedControllerBase {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_GS = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
protected:
void performSafe();
void performDetumble();
void performPointingCtrl();
private:
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;
ActuatorCmd actuatorCmd;
Guidance guidance;
Detumble detumble;
PtgCtrl ptgCtrl;
uint8_t detumbleCounter;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
// MGMs
acsctrl::MgmDataRaw mgmData;
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
void copyMgmData();
// Sun Sensors
acsctrl::SusDataRaw susData;
std::array<SUS::SusDataset, 12> susSets{
SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
};
PoolEntry<uint16_t> sus0PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus1PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus2PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus3PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus4PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus5PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus6PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus7PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus8PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus9PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus10PoolVec = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus11PoolVec = PoolEntry<uint16_t>(6);
void copySusData();
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
};
#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */