51 lines
2.3 KiB
C++
51 lines
2.3 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(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
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acsParameters = *acsParameters_;
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}
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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) {
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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.caliQx.isValid() &&
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sensorValues->strSet.caliQy.isValid() &&
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sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
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if (kalmanInit) {
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return 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(), acsParameters.onBoardParams.sampleTime, mekfData);
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} else {
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ReturnValue_t result;
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result = 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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kalmanInit = true;
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return result;
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}
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}
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void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
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multiplicativeKalmanFilter.reset(mekfData);
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}
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