Marius Eggert
e7b6ca42bf
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90 lines
3.1 KiB
C++
90 lines
3.1 KiB
C++
/*******************************
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* EIVE Flight Software Framework (FSFW)
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* (c) 2022 IRS, Uni Stuttgart
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*******************************/
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#ifndef SENSORPROCESSING_H_
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#define SENSORPROCESSING_H_
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#include <stdint.h> //uint8_t
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#include <time.h> /*purpose, timeval ?*/
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#include <config/classIds.h>
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#include <fsfw/src/fsfw/returnvalues/returnvalue.h>
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#include <AcsParameters.h>
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#include <SensorValues.h>
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#include <OutputValues.h>
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/*Planned:
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* - Fusion of Sensor Measurements -
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* sunDirEst (mean value)
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* magField (mean value)
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* rmuSatRate (rmus, mean value)
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* - Models to get inertia values -
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* sunModelDir (input: time)
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* magModelField (input: position,time)
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* - Low Pass Filter maybe -
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* magField
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* SunDirEst*/
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class SensorProcessing{
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public:
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void reset();
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SensorProcessing(AcsParameters *acsParameters_);
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virtual ~SensorProcessing();
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void process(timeval now, ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
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const AcsParameters *acsParameters); // Will call protected functions
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private:
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protected:
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// short description needed for every function
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bool processMgm(const float *mgm0Value, bool mgm0valid,
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const float *mgm1Value, bool mgm1valid,
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const float *mgm2Value, bool mgm2valid,
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const float *mgm3Value, bool mgm3valid,
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const float *mgm4Value, bool mgm4valid,
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timeval timeOfMgmMeasurement,
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const AcsParameters::MgmHandlingParameters *mgmParameters,
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const double gpsLatitude, const double gpsLongitude,
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const double gpsAltitude, bool gpsValid,
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double *magFieldEst, bool *outputValid,
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double *magFieldModel, bool*magFieldModelValid,
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double *magneticFieldVectorDerivative, bool *magneticFieldVectorDerivativeValid); //Output
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void processSus(const float sus0Value[], bool sus0valid, const float sus1Value[], bool sus1valid,
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const float sus2Value[], bool sus2valid, const float sus3Value[], bool sus3valid,
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const float sus4Value[], bool sus4valid, const float sus5Value[], bool sus5valid,
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const float sus6Value[], bool sus6valid, const float sus7Value[], bool sus7valid,
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const float sus8Value[], bool sus8valid, const float sus9Value[], bool sus9valid,
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const float sus10Value[], bool sus10valid, const float sus11Value[], bool sus11valid,
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timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
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const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst, bool *sunDirEstValid,
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double *sunVectorModel, bool *sunVectorModelValid,
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double *sunVectorDerivative, bool *sunVectorDerivativeValid);
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void processRmu(const double rmu0Value[], bool rmu0valid, // processRmu
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const double rmu1Value[], bool rmu1valid,
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const double rmu2Value[], bool rmu2valid,
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timeval timeOfrmuMeasurement, const AcsParameters::RmuHandlingParameters *rmuParameters,
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double *satRatEst, bool *satRateEstValid);
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void processStr();
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void processGps(const double gps0latitude, const double gps0longitude,
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const bool validGps, double *gcLatitude, double *gdLongitude);
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double savedMagFieldEst[3];
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timeval timeOfSavedMagFieldEst;
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double savedSunVector[3];
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timeval timeOfSavedSusDirEst;
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bool validMagField;
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bool validGcLatitude;
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};
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#endif SENSORPROCESSING_H_
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