Marius Eggert
e70ee1bf9d
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
383 lines
14 KiB
C++
383 lines
14 KiB
C++
/*
|
|
* SusConverter.cpp
|
|
*
|
|
* Created on: 17.01.2022
|
|
* Author: Timon Schwarz
|
|
*/
|
|
|
|
#include <math.h> //for atan2
|
|
#include <iostream>
|
|
#include <SusConverter.h>
|
|
|
|
void SunSensor::setSunSensorData(uint8_t Sensornumber) {
|
|
// Creates dummy sensordata, replace with SUS devicehandler / channel readout
|
|
ChannelValue[0] = 3913;
|
|
ChannelValue[1] = 3912;
|
|
ChannelValue[2] = 3799;
|
|
ChannelValue[3] = 3797;
|
|
ChannelValue[4] = 4056;
|
|
}
|
|
|
|
void SunSensor::checkSunSensorData(uint8_t Sensornumber) {
|
|
uint16_t ChannelValueSum;
|
|
|
|
// Check individual channel values
|
|
for (int k = 0; k < 4; k++) { // iteration above all photodiode quarters
|
|
|
|
if (ChannelValue[k] <= ChannelValueCheckLow ||
|
|
ChannelValue[k] > ChannelValueCheckHigh) { // Channel values out of range for 12 bit SUS
|
|
// channel measurement range?
|
|
ValidityNumber = false; // false --> Data not valid
|
|
printf(
|
|
"The value of channel %i from sun sensor %i is not inside the borders of valid data with "
|
|
"a value of %i \n",
|
|
k, Sensornumber, ChannelValue[k]);
|
|
} else if (ChannelValue[k] >
|
|
ChannelValue[4]) { // Channel values higher than zero current threshold GNDREF?
|
|
ValidityNumber = false;
|
|
printf(
|
|
"The value of channel %i from sun sensor %i is higher than the zero current threshold "
|
|
"GNDREF\n",
|
|
k, Sensornumber);
|
|
};
|
|
};
|
|
|
|
// check sum of all channel values to check if sun sensor is illuminated by the sun (sum is
|
|
// smaller than a treshold --> sun sensor is not illuminated by the sun, but by the moon
|
|
// reflection or earth albedo)
|
|
ChannelValueSum =
|
|
4 * ChannelValue[4] - (ChannelValue[0] + ChannelValue[1] + ChannelValue[2] + ChannelValue[3]);
|
|
if ((ChannelValueSum < ChannelValueSumHigh) && (ChannelValueSum > ChannelValueSumLow)) {
|
|
ValidityNumber = false;
|
|
printf("Sun sensor %i is not illuminated by the sun\n", Sensornumber);
|
|
};
|
|
}
|
|
|
|
void SunSensor::AngleCalculation() {
|
|
float xout, yout, s = 0.03; // s=[mm]
|
|
uint8_t d = 5, h = 1; // d=[mm] h=[mm]
|
|
int ch0, ch1, ch2, ch3;
|
|
// Substract measurement values from GNDREF zero current threshold
|
|
ch0 = ChannelValue[4] - ChannelValue[0];
|
|
ch1 = ChannelValue[4] - ChannelValue[1];
|
|
ch2 = ChannelValue[4] - ChannelValue[2];
|
|
ch3 = ChannelValue[4] - ChannelValue[3];
|
|
|
|
// Calculation of x and y
|
|
xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
|
yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3); //[mm]
|
|
|
|
// Calculation of the angles
|
|
AlphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI); //[°]
|
|
AlphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI); //[°]
|
|
}
|
|
|
|
void SunSensor::setCalibrationCoefficients(uint8_t Sensornumber) {
|
|
switch (Sensornumber) { // search for the correct calibration coefficients for each SUS
|
|
|
|
case 0:
|
|
for (uint8_t row = 0; row < 9;
|
|
row++) { // save the correct coefficients in the right SUS class
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus0coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus0coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 1:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus1coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus1coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 2:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus2coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus2coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 3:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus3coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus3coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 4:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus4coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus4coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 5:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus5coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus5coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 6:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus6coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus6coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 7:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus7coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus7coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 8:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus8coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus8coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 9:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus9coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus9coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 10:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus10coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus10coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 11:
|
|
for (uint8_t row = 0; row < 9; row++) {
|
|
for (uint8_t column = 0; column < 10; column++) {
|
|
CoeffAlpha[row][column] = acsParameters.susHandlingParameters.sus11coeffAlpha[row][column];
|
|
CoeffBeta[row][column] = acsParameters.susHandlingParameters.sus11coeffBeta[row][column];
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
void SunSensor::Calibration() {
|
|
float alpha_m, beta_m, alpha_calibrated, beta_calibrated, k, l;
|
|
uint8_t index;
|
|
|
|
alpha_m = AlphaBetaRaw[0]; //[°]
|
|
beta_m = AlphaBetaRaw[1]; //[°]
|
|
|
|
// while loop iterates above all calibration cells to use the different calibration functions in
|
|
// each cell
|
|
k = 0;
|
|
while (k < 3) {
|
|
k = k + 1;
|
|
l = 0;
|
|
while (l < 3) {
|
|
l = l + 1;
|
|
// if-condition to check in which cell the data point has to be
|
|
if ((alpha_m > ((CompleteCellWidth * ((k - 1) / 3)) - HalfCellWidth) &&
|
|
alpha_m < ((CompleteCellWidth * (k / 3)) - HalfCellWidth)) &&
|
|
(beta_m > ((CompleteCellWidth * ((l - 1) / 3)) - HalfCellWidth) &&
|
|
beta_m < ((CompleteCellWidth * (l / 3)) - HalfCellWidth))) {
|
|
index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
|
|
// -> first cell has number 0
|
|
alpha_calibrated =
|
|
CoeffAlpha[index][0] + CoeffAlpha[index][1] * alpha_m + CoeffAlpha[index][2] * beta_m +
|
|
CoeffAlpha[index][3] * alpha_m * alpha_m + CoeffAlpha[index][4] * alpha_m * beta_m +
|
|
CoeffAlpha[index][5] * beta_m * beta_m +
|
|
CoeffAlpha[index][6] * alpha_m * alpha_m * alpha_m +
|
|
CoeffAlpha[index][7] * alpha_m * alpha_m * beta_m +
|
|
CoeffAlpha[index][8] * alpha_m * beta_m * beta_m +
|
|
CoeffAlpha[index][9] * beta_m * beta_m * beta_m;
|
|
}
|
|
}
|
|
}
|
|
|
|
// while loop iterates above all calibration cells to use the different calibration functions in
|
|
// each cell
|
|
k = 0;
|
|
while (k < 3) {
|
|
k = k + 1;
|
|
l = 0;
|
|
while (l < 3) {
|
|
l = l + 1;
|
|
// if condition to check in which cell the data point has to be
|
|
if ((alpha_m > ((CompleteCellWidth * ((k - 1) / 3)) - HalfCellWidth) &&
|
|
alpha_m < ((CompleteCellWidth * (k / 3)) - HalfCellWidth)) &&
|
|
(beta_m > ((CompleteCellWidth * ((l - 1) / 3)) - HalfCellWidth) &&
|
|
beta_m < ((CompleteCellWidth * (l / 3)) - HalfCellWidth))) {
|
|
index = (3 * (k - 1) + l) - 1; // calculate the index of the datapoint for the right cell
|
|
// -> first cell has number 0
|
|
beta_calibrated = CoeffBeta[index][0] + CoeffBeta[index][1] * alpha_m +
|
|
CoeffBeta[index][2] * beta_m + CoeffBeta[index][3] * alpha_m * alpha_m +
|
|
CoeffBeta[index][4] * alpha_m * beta_m +
|
|
CoeffBeta[index][5] * beta_m * beta_m +
|
|
CoeffBeta[index][6] * alpha_m * alpha_m * alpha_m +
|
|
CoeffBeta[index][7] * alpha_m * alpha_m * beta_m +
|
|
CoeffBeta[index][8] * alpha_m * beta_m * beta_m +
|
|
CoeffBeta[index][9] * beta_m * beta_m * beta_m;
|
|
}
|
|
}
|
|
}
|
|
|
|
AlphaBetaCalibrated[0] = alpha_calibrated; //[°]
|
|
AlphaBetaCalibrated[1] = beta_calibrated; //[°]
|
|
}
|
|
|
|
void SunSensor::CalculateSunVector() {
|
|
float alpha, beta;
|
|
alpha = AlphaBetaCalibrated[0]; //[°]
|
|
beta = AlphaBetaCalibrated[1]; //[°]
|
|
|
|
// Calculate the normalized Sun Vector
|
|
SunVectorBodyFrame[0] =
|
|
(tan(alpha * (M_PI / 180)) /
|
|
(sqrt((powf(tan(alpha * (M_PI / 180)), 2)) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
|
|
SunVectorBodyFrame[1] =
|
|
(tan(beta * (M_PI / 180)) /
|
|
(sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf(tan((beta * (M_PI / 180))), 2) + (1))));
|
|
SunVectorBodyFrame[2] =
|
|
(-1 /
|
|
(sqrt(powf((tan(alpha * (M_PI / 180))), 2) + powf((tan(beta * (M_PI / 180))), 2) + (1))));
|
|
}
|
|
|
|
float* SunSensor::getSunVectorBodyFrame() {
|
|
// return function for the sun vector in the body frame
|
|
float* SunVectorBodyFrameReturn = 0;
|
|
SunVectorBodyFrameReturn = new float[3];
|
|
|
|
SunVectorBodyFrameReturn[0] = SunVectorBodyFrame[0];
|
|
SunVectorBodyFrameReturn[1] = SunVectorBodyFrame[1];
|
|
SunVectorBodyFrameReturn[2] = SunVectorBodyFrame[2];
|
|
|
|
return SunVectorBodyFrameReturn;
|
|
}
|
|
|
|
float* SunSensor::TransferSunVector(SunSensor SUS[12]) {
|
|
float* SunVectorEIVE = 0;
|
|
SunVectorEIVE = new float[3];
|
|
|
|
uint8_t counter = 0;
|
|
int8_t BasisMatrixUse[3][3];
|
|
float SunVectorMatrixEIVE[3][12] = {0}, sum;
|
|
float SunVectorMatrixBodyFrame[3][12];
|
|
|
|
for (uint8_t Sensornumber = 0; Sensornumber < 12;
|
|
Sensornumber++) { // save the sun vector of each SUS in their body frame into an array for
|
|
// further processing
|
|
float* SunVectorBodyFrame = this[Sensornumber].getSunVectorBodyFrame();
|
|
SunVectorMatrixBodyFrame[0][Sensornumber] = SunVectorBodyFrame[0];
|
|
SunVectorMatrixBodyFrame[1][Sensornumber] = SunVectorBodyFrame[1];
|
|
SunVectorMatrixBodyFrame[2][Sensornumber] = SunVectorBodyFrame[2];
|
|
}
|
|
|
|
for (uint8_t Sensornumber = 0; Sensornumber < 12; Sensornumber++) {
|
|
if (SUS[Sensornumber].getValidityNumber() == false) {
|
|
counter = counter + 1;
|
|
} // if the SUS data is not valid ->
|
|
|
|
for (uint8_t c1 = 0; c1 < 3; c1++) {
|
|
for (uint8_t c2 = 0; c2 < 3; c2++) {
|
|
switch (Sensornumber) { // find right basis matrix for each SUS
|
|
|
|
case 0:
|
|
BasisMatrixUse[c1][c2] = AcsParameters[c1][c2];
|
|
break;
|
|
case 1:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix1[c1][c2];
|
|
break;
|
|
case 2:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix2[c1][c2];
|
|
break;
|
|
case 3:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix3[c1][c2];
|
|
break;
|
|
case 4:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix4[c1][c2];
|
|
break;
|
|
case 5:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix5[c1][c2];
|
|
break;
|
|
case 6:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix6[c1][c2];
|
|
break;
|
|
case 7:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix7[c1][c2];
|
|
break;
|
|
case 8:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix8[c1][c2];
|
|
break;
|
|
case 9:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix9[c1][c2];
|
|
break;
|
|
case 10:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix10[c1][c2];
|
|
break;
|
|
case 11:
|
|
BasisMatrixUse[c1][c2] = BasisMatrix11[c1][c2];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// matrix multiplication for transition in EIVE coordinatesystem
|
|
for (uint8_t p = 0; p < 3; p++) {
|
|
for (uint8_t q = 0; q < 3; q++) {
|
|
// normal matrix multiplication
|
|
SunVectorMatrixEIVE[p][Sensornumber] +=
|
|
(BasisMatrixUse[p][q] * SunVectorMatrixBodyFrame[q][Sensornumber]);
|
|
}
|
|
}
|
|
}
|
|
|
|
// ToDo: remove invalid SUSs from being used for calculating the combined sun vector
|
|
|
|
if (counter < 12) { // Calculate one sun vector out of all sun vectors from the different SUS
|
|
for (uint8_t i = 0; i < 3; i++) {
|
|
sum = 0;
|
|
for (uint8_t Sensornumber = 0; Sensornumber < 12; Sensornumber++) {
|
|
sum += SunVectorMatrixEIVE[i][Sensornumber];
|
|
printf("%f\n", SunVectorMatrixEIVE[i][Sensornumber]);
|
|
}
|
|
SunVectorEIVE[i] =
|
|
sum / (12 - counter); // FLAG Ergebnis ist falsch, kann an einem Fehler im Programm
|
|
// liegen, vermutlich aber an den falschen ChannelValues da die
|
|
// transformierten Sonnenvektoren jedes SUS plausibel sind
|
|
}
|
|
} else {
|
|
// No sus is valid
|
|
throw std::invalid_argument("No sun sensor is valid"); // throw error
|
|
}
|
|
|
|
return SunVectorEIVE;
|
|
}
|
|
|
|
|