518 lines
17 KiB
C++
518 lines
17 KiB
C++
#include "AcsParameters.h"
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#include <fsfw/src/fsfw/globalfunctions/constants.h>
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#include <stddef.h>
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AcsParameters::AcsParameters() {}
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AcsParameters::~AcsParameters() {}
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ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues,
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uint16_t startAtIndex) {
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switch (domainId) {
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case 0x0: // direct members
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switch (parameterId) {
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x1: // OnBoardParams
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(onBoardParams.sampleTime);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x2: // InertiaEIVE
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(inertiaEIVE.inertiaMatrix);
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break;
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case 0x1:
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parameterWrapper->set(inertiaEIVE.inertiaMatrixDeployed);
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break;
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case 0x2:
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parameterWrapper->set(inertiaEIVE.inertiaMatrixUndeployed);
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break;
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case 0x3:
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parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel1);
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break;
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case 0x4:
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parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel3);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x3: // MgmHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
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break;
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case 0x5:
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parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
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break;
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case 0x6:
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parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
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break;
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case 0x7:
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parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
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break;
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case 0x8:
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parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
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break;
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case 0x9:
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parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
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break;
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case 0xA:
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parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
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break;
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case 0xB:
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parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
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break;
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case 0xC:
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parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
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break;
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case 0xD:
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parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
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break;
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case 0xE:
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parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
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break;
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case 0xF:
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parameterWrapper->set(mgmHandlingParameters.mgm02variance);
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break;
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case 0x10:
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parameterWrapper->set(mgmHandlingParameters.mgm13variance);
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break;
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case 0x11:
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parameterWrapper->set(mgmHandlingParameters.mgm4variance);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x4: // SusHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
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break;
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case 0x5:
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parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
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break;
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case 0x6:
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parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
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break;
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case 0x7:
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parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
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break;
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case 0x8:
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parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
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break;
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case 0x9:
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parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
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break;
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case 0xA:
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parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
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break;
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case 0xB:
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parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
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break;
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case 0xC:
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parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
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break;
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case 0xD:
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parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
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break;
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case 0xE:
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parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
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break;
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case 0xF:
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parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
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break;
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case 0x10:
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parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
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break;
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case 0x11:
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parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
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break;
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case 0x12:
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parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
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break;
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case 0x13:
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parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
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break;
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case 0x14:
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parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
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break;
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case 0x15:
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parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
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break;
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case 0x16:
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parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
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break;
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case 0x17:
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parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
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break;
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case 0x18:
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parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
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break;
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case 0x19:
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parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
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break;
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case 0x1A:
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parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
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break;
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case 0x1B:
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parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
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break;
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case 0x1C:
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parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
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break;
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case 0x1D:
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parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
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break;
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case 0x1E:
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parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
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break;
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case 0x1F:
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parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
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break;
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case 0x20:
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parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
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break;
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case 0x21:
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parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
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break;
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case 0x22:
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parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
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break;
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case 0x23:
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parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x5): // GyrHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->set(gyrHandlingParameters.gyr02variance);
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break;
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case 0x5:
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parameterWrapper->set(gyrHandlingParameters.gyr13variance);
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break;
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case 0x6:
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parameterWrapper->set(gyrHandlingParameters.preferAdis);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x6): // RwHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(rwHandlingParameters.inertiaWheel);
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break;
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case 0x1:
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parameterWrapper->set(rwHandlingParameters.maxTrq);
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break;
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case 0x2:
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parameterWrapper->set(rwHandlingParameters.stictionSpeed);
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break;
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case 0x3:
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parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
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break;
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case 0x4:
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parameterWrapper->set(rwHandlingParameters.stictionTorque);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x7): // RwMatrices
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(rwMatrices.alignmentMatrix);
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break;
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case 0x1:
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parameterWrapper->set(rwMatrices.pseudoInverse);
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break;
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case 0x2:
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parameterWrapper->set(rwMatrices.without0);
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break;
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case 0x3:
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parameterWrapper->set(rwMatrices.without1);
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break;
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case 0x4:
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parameterWrapper->set(rwMatrices.without2);
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break;
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case 0x5:
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parameterWrapper->set(rwMatrices.without3);
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break;
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case 0x6:
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parameterWrapper->set(rwMatrices.nullspace);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x8): // SafeModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
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break;
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case 0x1:
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parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
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break;
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case 0x2:
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parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf);
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break;
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case 0x3:
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parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
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break;
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case 0x4:
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parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
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break;
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case 0x5:
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parameterWrapper->set(safeModeControllerParameters.sunTargetDirLeop);
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break;
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case 0x6:
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parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
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break;
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case 0x7:
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parameterWrapper->set(safeModeControllerParameters.satRateRef);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x9): // PointingModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(targetModeControllerParameters.refDirection);
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break;
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case 0x1:
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parameterWrapper->set(targetModeControllerParameters.refRotRate);
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break;
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case 0x2:
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parameterWrapper->set(targetModeControllerParameters.quatRef);
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break;
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case 0x3:
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parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
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break;
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case 0x4:
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parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
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break;
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case 0x5:
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parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
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break;
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case 0x6:
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parameterWrapper->set(targetModeControllerParameters.blindRotRate);
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break;
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case 0x7:
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parameterWrapper->set(targetModeControllerParameters.zeta);
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break;
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case 0x8:
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parameterWrapper->set(targetModeControllerParameters.om);
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break;
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case 0x9:
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parameterWrapper->set(targetModeControllerParameters.omMax);
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break;
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case 0xA:
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parameterWrapper->set(targetModeControllerParameters.qiMin);
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break;
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case 0xB:
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parameterWrapper->set(targetModeControllerParameters.gainNullspace);
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break;
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case 0xC:
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parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
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break;
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case 0xD:
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parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
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break;
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case 0xE:
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parameterWrapper->set(targetModeControllerParameters.desatOn);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xA): // StrParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(strParameters.exclusionAngle);
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break;
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case 0x1:
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parameterWrapper->set(strParameters.boresightAxis);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xB): // GpsParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xC): // PtgTargetParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(ptgTargetParameters.latitudeTgt);
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break;
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case 0x1:
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parameterWrapper->set(ptgTargetParameters.longitudeTgt);
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break;
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case 0x2:
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parameterWrapper->set(ptgTargetParameters.altitudeTgt);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xD): // SunModelParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(sunModelParameters.domega);
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break;
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case 0x1:
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parameterWrapper->set(sunModelParameters.omega_0);
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break;
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case 0x2:
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parameterWrapper->set(sunModelParameters.m_0);
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break;
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case 0x3:
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parameterWrapper->set(sunModelParameters.dm);
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break;
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case 0x4:
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parameterWrapper->set(sunModelParameters.e);
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break;
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case 0x5:
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parameterWrapper->set(sunModelParameters.e1);
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break;
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case 0x6:
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parameterWrapper->set(sunModelParameters.p1);
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break;
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case 0x7:
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parameterWrapper->set(sunModelParameters.p2);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xE): // KalmanFilterParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
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break;
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case 0x1:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
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break;
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case 0x2:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
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break;
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case 0x3:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
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break;
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case 0x4:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
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break;
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case 0x5:
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parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xF): // MagnetorquesParameter
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
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break;
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case 0x4:
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parameterWrapper->set(magnetorquesParameter.inverseAlignment);
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break;
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case 0x5:
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parameterWrapper->set(magnetorquesParameter.DipolMax);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x10): // DetumbleParameter
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(detumbleParameter.detumblecounter);
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break;
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case 0x1:
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parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
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break;
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case 0x2:
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parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
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break;
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case 0x3:
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parameterWrapper->set(detumbleParameter.gainD);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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default:
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return INVALID_DOMAIN_ID;
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}
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return returnvalue::OK;
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}
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