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eive-obsw/mission/controller/AcsController.h

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#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/coordinates/Sgp4Propagator.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/acs/defs.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/config/torquer.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/AttitudeEstimation.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
#include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/Navigation.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/control/Detumble.h>
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/utility/trace.h>
#include <filesystem>
#include <fstream>
#include <optional>
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
protected:
private:
static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false;
SdCardMountedIF& sdcMan;
timeval timeAbsolute;
timeval timeRelative;
double timeDelta = 0.0;
timeval oldTimeRelative;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
AttitudeEstimation attitudeEstimation;
FusedRotationEstimation fusedRotationEstimation;
Navigation navigation;
ActuatorCmd actuatorCmd;
Guidance guidance;
SafeCtrl safeCtrl;
Detumble detumble;
PtgCtrl ptgCtrl;
ParameterHelper parameterHelper;
bool tleTooOldFlag = false;
uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false;
uint16_t ptgCtrlLostCounter = 0;
bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0;
uint8_t resetMekfCount = 0;
bool mekfLost = false;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipoleMtqs[3] = {0, 0, 0};
acsctrl::RwAvail rwAvail;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0;
#endif
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
enum class DetumbleState {
NO_DETUMBLE,
DETUMBLE_FROM_PTG,
PTG_TO_SAFE_TRANSITION,
DETUMBLE_FROM_SAFE,
IN_DETUMBLE
};
DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
/** Device command IDs */
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1;
static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
static const DeviceCommandId_t UPDATE_TLE = 0x3;
static const DeviceCommandId_t READ_TLE = 0x4;
static const DeviceCommandId_t UPDATE_MEKF_STANDARD_DEVIATIONS = 0x5;
ReturnValue_t initialize() override;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
/* HasActionsIF overrides */
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) 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);
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
void handleDetumbling();
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
void updateActuatorCmdData(const int16_t* mtqTargetDipole);
void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
const int16_t* mtqTargetDipole);
void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
const double* tgtRotRate, acs::ControlModeStrategy cStrat);
ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
ReturnValue_t writeTleToFs(const uint8_t* tle);
ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
const std::string TLE_FILE = "/conf/tle.txt";
/* ACS Sensor Values */
ACS::SensorValues sensorValues;
/* ACS Actuation Datasets */
imtq::DipoleActuationSet dipoleSet = imtq::DipoleActuationSet(objects::IMTQ_HANDLER);
rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
/* ACS Datasets */
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;
PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
void copyMgmData();
acsctrl::MgmDataProcessed mgmDataProcessed;
PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
PoolEntry<double> magIgrf = PoolEntry<double>(3);
// SUSs
acsctrl::SusDataRaw susDataRaw;
PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
void copySusData();
acsctrl::SusDataProcessed susDataProcessed;
PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
PoolEntry<double> susVecTot = PoolEntry<double>(3);
PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
PoolEntry<double> sunIjk = PoolEntry<double>(3);
// GYRs
acsctrl::GyrDataRaw gyrDataRaw;
PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
void copyGyrData();
acsctrl::GyrDataProcessed gyrDataProcessed;
PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
// GPS
acsctrl::GpsDataProcessed gpsDataProcessed;
PoolEntry<double> gcLatitude = PoolEntry<double>();
PoolEntry<double> gdLongitude = PoolEntry<double>();
PoolEntry<double> altitude = PoolEntry<double>();
PoolEntry<double> gpsPosition = PoolEntry<double>(3);
PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();
// Attitude Estimation
acsctrl::AttitudeEstimationData attitudeEstimationData;
PoolEntry<double> quatMekf = PoolEntry<double>(4);
PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
PoolEntry<double> quatQuest = PoolEntry<double>(4);
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
PoolEntry<uint8_t> safeStrat = PoolEntry<uint8_t>();
PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>();
PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
// Actuator CMD
acsctrl::ActuatorCmdData actuatorCmdData;
PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
// Fused Rot Rate
acsctrl::FusedRotRateData fusedRotRateData;
PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalSource = PoolEntry<double>(3);
PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();
// Fused Rot Rate Sources
acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
// Countdown after which the detumbling mode change should have been finished
static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
};
#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */
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