Marius Eggert
f77b3498ec
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82 lines
3.1 KiB
C++
82 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 <fsfw/returnvalues/returnvalue.h>
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#include <stdint.h> //uint8_t
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#include <time.h> /*purpose, timeval ?*/
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
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#include "OutputValues.h"
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#include "SensorValues.h"
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#include "SusConverter.h"
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#include "config/classIds.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(acsctrl::SusDataRaw *susData, timeval now, ACS::SensorValues *sensorValues,
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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, const float *mgm1Value, bool mgm1valid,
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const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
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const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
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const AcsParameters::MgmHandlingParameters *mgmParameters,
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const double gpsLatitude, const double gpsLongitude, const double gpsAltitude,
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bool gpsValid, double *magFieldEst, bool *outputValid, double *magFieldModel,
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bool *magFieldModelValid, double *magneticFieldVectorDerivative,
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bool *magneticFieldVectorDerivativeValid); // Output
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void processSus(acsctrl::SusDataRaw *susData, timeval timeOfSusMeasurement,
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const AcsParameters::SusHandlingParameters *susParameters,
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const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst,
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bool *sunDirEstValid, double *sunVectorInertial, bool *sunVectorInertialValid,
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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, const double rmu2Value[],
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bool rmu2valid, timeval timeOfrmuMeasurement,
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const AcsParameters::RmuHandlingParameters *rmuParameters, double *satRatEst,
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bool *satRateEstValid);
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void processStr();
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void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
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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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SusConverter susConverter;
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AcsParameters acsParameters;
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};
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#endif /*SENSORPROCESSING_H_*/
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