meggert
04c9013c64
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83 lines
3.5 KiB
C++
83 lines
3.5 KiB
C++
#include "Navigation.h"
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <math.h>
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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Navigation::Navigation() {}
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Navigation::~Navigation() {}
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ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
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double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
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sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
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bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
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if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
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mekfStatus = multiplicativeKalmanFilter.init(
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mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
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susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
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susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
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mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData,
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acsParameters);
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return mekfStatus;
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} else {
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mekfStatus = multiplicativeKalmanFilter.mekfEst(
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quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
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gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
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mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
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susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
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susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
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mgmDataProcessed->magIgrfModel.isValid(), mekfData, acsParameters);
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return mekfStatus;
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}
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}
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void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
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mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
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}
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void Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed) {
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double position[3] = {0, 0, 0};
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double velocity[3] = {0, 0, 0};
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ReturnValue_t result = sgp4Propagator.propagate(position, velocity, now, 0);
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if (result == returnvalue::OK) {
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{
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PoolReadGuard pg(gpsDataProcessed);
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if (pg.getReadResult() == returnvalue::OK) {
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gpsDataProcessed->source = acs::GpsSource::SPG4;
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gpsDataProcessed->source.setValid(true);
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std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
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gpsDataProcessed->gpsPosition.setValid(true);
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std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
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gpsDataProcessed->gpsVelocity.setValid(true);
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}
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}
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} else {
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{
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PoolReadGuard pg(gpsDataProcessed);
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if (pg.getReadResult() == returnvalue::OK) {
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gpsDataProcessed->source = acs::GpsSource::NONE;
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gpsDataProcessed->source.setValid(true);
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std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
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gpsDataProcessed->gpsPosition.setValid(false);
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std::memcpy(gpsDataProcessed->gpsVelocity.value, velocity, 3 * sizeof(double));
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gpsDataProcessed->gpsVelocity.setValid(false);
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}
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}
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}
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}
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ReturnValue_t Navigation::updateTle(const uint8_t *line1, const uint8_t *line2) {
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return sgp4Propagator.initialize(line1, line2);
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}
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