eive-obsw/mission/controller/acs/Navigation.cpp
meggert 352053f1d2
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
this mekf should work
2024-02-27 16:05:05 +01:00

73 lines
3.0 KiB
C++

#include "Navigation.h"
Navigation::Navigation(AcsParameters *acsParameters) : multiplicativeKalmanFilter(acsParameters) {}
Navigation::~Navigation() {}
ReturnValue_t Navigation::useMekf(const ACS::SensorValues *sensorValues,
const acsctrl::GyrDataProcessed *gyrDataProcessed,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed,
const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
multiplicativeKalmanFilter.setStrData(
sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value,
sensorValues->strSet.caliQx.isValid());
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(susDataProcessed, mgmDataProcessed,
gyrDataProcessed, attitudeEstimationData);
return mekfStatus;
} else {
mekfStatus = multiplicativeKalmanFilter.mekfEst(
susDataProcessed, mgmDataProcessed, gyrDataProcessed, timeDelta, attitudeEstimationData);
return mekfStatus;
}
}
void Navigation::resetMekf(acsctrl::AttitudeEstimationData *mekfData) {
mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
}
ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed) {
double position[3] = {0, 0, 0};
double velocity[3] = {0, 0, 0};
ReturnValue_t result = sgp4Propagator.propagate(position, velocity, now, 0);
if (result == returnvalue::OK) {
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->source = acs::gps::Source::SPG4;
gpsDataProcessed->source.setValid(true);
std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
gpsDataProcessed->gpsPosition.setValid(true);
std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
gpsDataProcessed->gpsVelocity.setValid(true);
}
}
} else {
{
PoolReadGuard pg(gpsDataProcessed);
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->source = acs::gps::Source::NONE;
gpsDataProcessed->source.setValid(true);
std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
gpsDataProcessed->gpsPosition.setValid(false);
std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
gpsDataProcessed->gpsVelocity.setValid(false);
}
}
}
return result;
}
ReturnValue_t Navigation::updateTle(const uint8_t *line1, const uint8_t *line2) {
return sgp4Propagator.initialize(line1, line2);
}
void Navigation::updateMekfStandardDeviations(const AcsParameters *acsParameters) {
multiplicativeKalmanFilter.updateStandardDeviations(acsParameters);
}