diff --git a/CHANGELOG b/CHANGELOG
index e2bc13fef4eb665be1acc5e31d739bf927c321f3..f9b825ab88f6e0157c66638a43ba72eff6de82ef 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,6 +1,6 @@
-**************************************
-* ARIEL FGS HFS Repository CHANGELOG *
-**************************************
+*****************************************************************
+* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 0.2, CHANGELOG *
+*****************************************************************
################################################################################
V0.1:
@@ -27,3 +27,18 @@ V0.1:
which are both centered on the center of the Detector reference frame.
Future version shall allow for configurable offsets between the frames.
################################################################################
+V0.2:
+15.June, 2022 Gerald Mösenlechner <gerald.moesenlechner@univie.ac.at>
+
+ Fixed Issues:
+
+ - Fixed conversion from Spacecraft reference frame to detector reference
+ frame.
+
+ - Fixed typo in conversion matrix.
+
+ - Fixed typo in quaternion multiplication.
+
+ - Added validation signal to input parameters of hfs_parameter struct.
+ This should prevent wrong or invalid identification when changing targets.
+################################################################################
diff --git a/MANUAL b/MANUAL
index d788ef1b2e8cd05a63fc744e57a1be35cf64dee6..f9da4e6ef3968100180cbe8e9906733ac8ca10eb 100644
--- a/MANUAL
+++ b/MANUAL
@@ -1,6 +1,6 @@
-************************
-* ARIEL FGS HFS MANUAL *
-************************
+*****************************************************
+* ARIEL FGS HFS, , ARIEL-UVIE-PL-ML-001 0.2, MANUAL *
+*****************************************************
The FGS HFS is based on the c++ object "FGS" defined in HFS_API.hpp. The
constructor for this object has following notation:
@@ -42,6 +42,8 @@ from of a hfs_parameters struct update. The struct is defined as follows:
- unsigned int set_invalid: Flag to set the validity of all measuremets to false
+ - unsigned int validation_signal: Singal used for target identification [ADU/s]
+
- unsigned int mode: Operational mode, defined as an interger due to Simulink
not supporting chars. The equiviliant modes and numbers
are:
diff --git a/Quaternion_Calculator.py b/Quaternion_Calculator.py
index e34d83e8f2d5f6ecf7e1c4ede61c0ff529b347e3..17aaf406674839fad4bd61379a615044d0fc7961 100644
--- a/Quaternion_Calculator.py
+++ b/Quaternion_Calculator.py
@@ -61,7 +61,7 @@ def mult_quaternion(q1, q2):
q_out = np.zeros(4)
- q_out[0] = q1[0]*q2[0] + dot(q1,q2)
+ q_out[0] = q1[0]*q2[0] - dot(q1,q2)
vec = q1[0]*q2[1:] + q2[0]*q1[1:] + cross3d(q1[1:], q2[1:])
q_out[1] = vec[0]
@@ -92,9 +92,9 @@ if __name__ == "__main__":
star = star_cat.loc[star_cat['Name'] == id]
print("Quaternion for Star:", id)
- star_vec = np.array((np.cos(star.dec)*np.cos(star.ra), np.cos(star.dec)*np.sin(star.ra), np.sin(star.dec)))
+ star_vec = np.array((np.cos(star.dec*(np.pi/180))*np.cos(star.ra*(np.pi/180)), np.cos(star.dec*(np.pi/180))*np.sin(star.ra*(np.pi/180)), np.sin(star.dec*(np.pi/180))))
- sc_vec = np.array((1.00000197, 0, -0.00017)) #target sc-vector
+ sc_vec = np.array((1.001698, 0, -0.0017)) #target sc-vector
quat = calc_quaternion(sc_vec, star_vec)
@@ -105,8 +105,8 @@ if __name__ == "__main__":
print("Expected Signals:")
print("\tFGS1:")
- print("\t\tTracking:", float(star.FGS1*0.125))
- print("\t\tAcquisition:", float(star.FGS1*0.5))
+ print("\t\tTracking:", float(star.FGS1*0.125), "ADU")
+ print("\t\tAcquisition:", float(star.FGS1*0.5), "ADU")
print("\tFGS2:")
- print("\t\tTracking:", float(star.FGS2*0.125))
- print("\t\tAcquisition:", float(star.FGS2*0.5))
+ print("\t\tTracking:", float(star.FGS2*0.125), "ADU/s")
+ print("\t\tAcquisition:", float(star.FGS2*0.5), "ADU/s")
diff --git a/README b/README
index 4e41fc684dab70bd5f6cd66d9bc309b9407745b4..fc7d1ac2a7b16f0bb526ef265ea54f53c4562150 100644
--- a/README
+++ b/README
@@ -1,6 +1,6 @@
-****************************
-* ARIEL FGS HFS Repository *
-****************************
+******************************************************
+* ARIEL FGS HFS Repository, ARIEL-UVIE-PL-ML-001 0.2 *
+******************************************************
This repository contains the HFS, the simulator SW used to simulate the
behaviour of the FGS IASW for the AOCS closed loop test.
diff --git a/matlab_model/Example_model.slx b/matlab_model/Example_model.slx
index 92b3703ac34c60b2698ebd20e9af98a69b30dab3..a52bffe6762f2ed1b93c45b49d2ad1592cba2c7a 100644
Binary files a/matlab_model/Example_model.slx and b/matlab_model/Example_model.slx differ
diff --git a/matlab_model/HFS_Wrapper.cpp b/matlab_model/HFS_Wrapper.cpp
index 1bc78a747ba92eb0c1e306054b483fc664be5ad7..8ac8e14e354660a9c85a79b83d6ce19eef4b3239 100644
--- a/matlab_model/HFS_Wrapper.cpp
+++ b/matlab_model/HFS_Wrapper.cpp
@@ -73,6 +73,7 @@ void updateFGS(hfs_parameters *update, centroid_packet *output)
u_new.reset = update -> reset;
u_new.save = update -> save;
u_new.set_invalid = update -> set_invalid;
+ u_new.validation_signal = update -> validation_signal;
u_new.sync_flag = update -> sync_flag;
fgsSim -> set_params(u_new, output);
diff --git a/matlab_model/HFS_bus.mat b/matlab_model/HFS_bus.mat
index 8239bcb877b865fcafbc983448e9ffdcc8988b66..e561d1aa6ab50fce1786f0466ffe151f6eed9389 100644
Binary files a/matlab_model/HFS_bus.mat and b/matlab_model/HFS_bus.mat differ
diff --git a/src/HFS_API.cpp b/src/HFS_API.cpp
index 9dc14d7b8c9dad18747d4f675cf83f520dbc2457..6c302c1ea5714101a167e36351d26c62e4838e49 100644
--- a/src/HFS_API.cpp
+++ b/src/HFS_API.cpp
@@ -2,7 +2,7 @@
* @file HFS_API.cpp
* @author Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
* @date May, 2022
-* @version 0.1
+* @version 0.2
*
* @copyright
* This program is free software; you can redistribute it and/or modify it
@@ -30,7 +30,7 @@
const char* MODE_ACQU = "Acquisition";
const char* MODE_TRAC = "Tracking";
const char* MODE_STBY = "Standby";
-static double ROTMATRIX[9] = {-1, 0, 0, 0, 0.999998, -0.00017, 0, -0.00017, -0.999998};
+static double ROTMATRIX[9] = {-1, 0, 0, 0, 0.999998, -0.0017, 0, -0.0017, -0.999998};
static double ROTMATRIX_SC[9] = {0, -1, 0, 0, 0, 1, -1, 0, 0};
double smear_kernel_os[125*125];
@@ -366,11 +366,11 @@ int FGS :: perform_algorithm()
if (med_acq == 1)
{
MedFilter3x3(image, dim_x, dim_y, med_threshold, filtered_image);
- output = SourceDetection(filtered_image, dim_x, dim_y, 0, channel, 10, target_signal, tolerance_acq, 10, iter_acq, 10, 15, target_signal*0.01, val_sigma, pearson_limit);
+ output = SourceDetection(filtered_image, dim_x, dim_y, 0, channel, 10, target_signal*exposure_time, tolerance_acq, 10, iter_acq, 10, 15, target_signal*0.01, val_sigma, pearson_limit);
}
else
{
- output = SourceDetection(image, dim_x, dim_y, 0, channel, 10, target_signal, tolerance_acq, 10, iter_acq, 10, 15, target_signal*0.01, val_sigma, pearson_limit);
+ output = SourceDetection(image, dim_x, dim_y, 0, channel, 10, target_signal*exposure_time, tolerance_acq, 10, iter_acq, 10, 15, target_signal*0.01, val_sigma, pearson_limit);
}
}
else if (strcmp(mode, MODE_TRAC) == 0)
@@ -748,13 +748,13 @@ int FGS :: transform_to_detector(double (&vec)[3], double* output)
dmatmult(rot_matrix_sc, vector, &transf_opt);
dmatmult(rot_matrix_opt, transf_opt, &transf);
- if(abs(transf.data[0]*3600000) < (dim_x/2)*plate_scale)
+ if(abs(transf.data[0]*3600000*(360/TWO_PI)) < (dim_x/2)*plate_scale)
{
- if(abs(transf.data[1]*3600000) < (dim_y/2)*plate_scale)
+ if(abs(transf.data[1]*3600000*(360/TWO_PI)) < (dim_y/2)*plate_scale)
{
- output[0] = transf.data[0]*3600000/plate_scale;
- output[1] = transf.data[1]*3600000/plate_scale;
+ output[0] = transf.data[0]*(360/TWO_PI)*3600000/plate_scale;
+ output[1] = transf.data[1]*(360/TWO_PI)*3600000/plate_scale;
return 0;
}
}
@@ -792,9 +792,9 @@ int FGS :: transform_star_coordinates(double (&quaternion)[4])
for(i = 0; i < targets -> number; i++)
{
star_quat[0] = 0.;
- star_quat[1] = cos(targets -> dec[i])*cos(targets -> ra[i]);
- star_quat[2] = cos(targets -> dec[i])*sin(targets -> ra[i]);
- star_quat[3] = sin(targets -> dec[i]);
+ star_quat[1] = cos(targets -> dec[i] * (TWO_PI/360))*cos(targets -> ra[i] * (TWO_PI/360));
+ star_quat[2] = cos(targets -> dec[i] * (TWO_PI/360))*sin(targets -> ra[i] * (TWO_PI/360));
+ star_quat[3] = sin(targets -> dec[i] * (TWO_PI/360));
/*apply quaternion to vector*/
multiply_quaternion(quaternion, star_quat, tmp_quat);
@@ -886,10 +886,11 @@ int FGS :: set_params(hfs_parameters update, centroid_packet *cent_packet)
centroid.y = (centroid.y - dim_y/2) * plate_scale;
sync_ctr = 0;
send_cent = 1;
- if((strcmp(mode, update_mode_char) != 0) || channel != update.channel)
+ if((strcmp(mode, update_mode_char) != 0) || channel != update.channel || target_signal != update.validation_signal)
{
set_mode(update_mode_char);
set_channel(update.channel);
+ target_signal = update.validation_signal;
}
}
else
@@ -911,10 +912,11 @@ int FGS :: set_params(hfs_parameters update, centroid_packet *cent_packet)
centroid.y = (centroid.y - dim_y/2) * plate_scale;
sync_ctr = 0;
send_cent = 1;
- if((strcmp(mode, update_mode_char) != 0) || channel != update.channel)
+ if((strcmp(mode, update_mode_char) != 0) || channel != update.channel || target_signal != update.validation_signal)
{
set_mode(update_mode_char);
set_channel(update.channel);
+ target_signal = update.validation_signal;
}
}
else
@@ -935,10 +937,11 @@ int FGS :: set_params(hfs_parameters update, centroid_packet *cent_packet)
cent_packet -> validity_index = 100.;
cent_packet -> validity_flag = 0;
cent_packet -> time = time;
- if((strcmp(mode, update_mode_char) != 0) || channel != update.channel)
+ if((strcmp(mode, update_mode_char) != 0) || channel != update.channel || target_signal != update.validation_signal)
{
set_mode(update_mode_char);
set_channel(update.channel);
+ target_signal = update.validation_signal;
}
}
}
@@ -1062,7 +1065,7 @@ int multiply_quaternion(double (&quaternion1)[4], double (&quaternion2)[4], doub
unsigned int i;
cross3(q_vec1, q_vec2, cross);
- output[0] = s1 * s2 * dot(q_vec1, q_vec2, 3);
+ output[0] = s1 * s2 - dot(q_vec1, q_vec2, 3);
for(i = 0; i < 3; i++)
{
diff --git a/src/HFS_API.hpp b/src/HFS_API.hpp
index b67dc05df0e72672bb52f86d36164ca57fffe037..9168df6d1da0dff37800c64a6e71600ffe56f414 100644
--- a/src/HFS_API.hpp
+++ b/src/HFS_API.hpp
@@ -2,7 +2,7 @@
* @file HFS_API.hpp
* @author Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
* @date May, 2022
-* @version 0.1
+* @version 0.2
*
* @copyright
* This program is free software; you can redistribute it and/or modify it
@@ -51,6 +51,7 @@
#define FL_FGS2 27.08 /*Focal lenght in m*/
#define PS_FGS1 175.0 /*Plate scale in mas/px*/
#define PS_FGS2 137.1 /*Plate scale in mas/px*/
+#define TWO_PI 6.28318531f
extern const char* MODE_ACQU;
@@ -81,6 +82,7 @@ struct hfs_state
* @param save: flag for saving the current state of the HFS
* @param reset: flag for reseting the HFS
* @param set_invalid: flag for setting the validity flag to false
+ * @param validation_signal: Target Signal used for validation and identification
* @param mode: operational mode of the FGS 0: Standby, 1: Acquisition, 2: Tracking
* @note Operational modes are integers as Simulink doesn't support c
*/
@@ -88,7 +90,7 @@ typedef struct{
double position_quat[4];
double ang_rate[3];
double time;
- unsigned int sync_flag, channel, save, reset, set_invalid;
+ unsigned int sync_flag, channel, save, reset, set_invalid, validation_signal;
unsigned int mode;
} hfs_parameters;
diff --git a/src/HFS_bus.mat b/src/HFS_bus.mat
index a453fb79d9832dc08fffe5eb28795fb99963cfd9..d8f28171de2c7b3965bb1d9bf8c45118f6d1fe0b 100644
Binary files a/src/HFS_bus.mat and b/src/HFS_bus.mat differ
diff --git a/src/HFS_config.xml b/src/HFS_config.xml
index c6667a38b7742028629fccb3d52381e5b6ae9a3f..f38d22bf92d005b3fac38112157b4a4ebcb36ad8 100644
--- a/src/HFS_config.xml
+++ b/src/HFS_config.xml
@@ -92,7 +92,7 @@
Note: must be lower than the integration time (0.5 s) -->
<delay>0.1</delay>
<!-- Brightness tolerance for target identification default is 20% -->
- <tolerance>20</tolerance>
+ <tolerance>50</tolerance>
</Acquisition>
<!-- Relative path to the star catalouge -->
diff --git a/src/detector_features.c b/src/detector_features.c
index 2c8b82c4752811589320d90b48b698271bae8cae..90bb675773bde93b4b8496269cbb4355f328cf50 100644
--- a/src/detector_features.c
+++ b/src/detector_features.c
@@ -2,7 +2,7 @@
* @file detector_features.c
* @author Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
* @date May, 2022
-* @version 0.1
+* @version 0.2
*
* @copyright
* This program is free software; you can redistribute it and/or modify it
diff --git a/src/fcu_algorithms.c b/src/fcu_algorithms.c
index 4e0e435825deb925cfb1fd3a638396c0115593b1..e8d31a59401a4205bd2a2ccfc12324c56b7989cd 100644
--- a/src/fcu_algorithms.c
+++ b/src/fcu_algorithms.c
@@ -2,7 +2,7 @@
* @file fcu_algorithms.c
* @author Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
* @date May, 2022
-* @version 0.1
+* @version 0.2
*
* @copyright
* This program is free software; you can redistribute it and/or modify it
@@ -1570,5 +1570,6 @@ struct coord SourceDetection(unsigned int *data, unsigned int xdim, unsigned int
{
result.validity.flag = 1;
}
+ result.time = 0.;
return result;
}
diff --git a/src/utilities.c b/src/utilities.c
index e374818cec51cf3b912791d4d66c909c963824b6..c349d21ce9f40bc6dd244833ce7930215ddd13f5 100644
--- a/src/utilities.c
+++ b/src/utilities.c
@@ -2,7 +2,7 @@
* @file utilities.c
* @author Gerald Mösenlechner (gerald.moesenlechner@univie.ac.at)
* @date May, 2022
-* @version 0.1
+* @version 0.2
*
* @copyright
* This program is free software; you can redistribute it and/or modify it
@@ -88,7 +88,7 @@ void random_poisson_trm(double *matrix, double mean, unsigned int size)
unsigned int i;
double k;
double U, V, slam, loglam, a, b, invalpha, vr, us, enlam, prod, X;
-
+
slam = sqrt(mean);
loglam = log(mean);
b = 0.931 + 2.53*slam;
diff --git a/test/HFSTest.cpp b/test/HFSTest.cpp
index 72ae1e4f5dc054d6cfedfa606ea72b6e57016fe4..60d592c66115bd181a4de83bf6fcf24388089445 100644
--- a/test/HFSTest.cpp
+++ b/test/HFSTest.cpp
@@ -6,6 +6,8 @@
#include <stdlib.h>
#include <experimental/filesystem>
+#define TWO_PI 6.28318531f
+
// Registers the fixture into the 'registry'
CPPUNIT_TEST_SUITE_REGISTRATION(HFSTest);
@@ -134,23 +136,23 @@ void HFSTest::testTransformation()
fgs.transform_to_detector(vecx, output);
CPPUNIT_ASSERT_DOUBLES_EQUAL(output[0], 0, 1e-7);
- CPPUNIT_ASSERT_DOUBLES_EQUAL(output[1], 0.00017*1e-5*3600000/175.0, 1e-7);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(output[1], 0.0017*1e-5*(360/TWO_PI)*3600000/175.0, 1e-7);
fgs.transform_to_detector(vecy, output);
- CPPUNIT_ASSERT_DOUBLES_EQUAL(output[0], 1e-5*3600000/175.0, 1e-7);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(output[0], 1e-5*(360/TWO_PI)*3600000/175.0, 1e-7);
CPPUNIT_ASSERT_DOUBLES_EQUAL(output[1], 0, 1e-7);
fgs.transform_to_detector(vecz, output);
CPPUNIT_ASSERT_DOUBLES_EQUAL(output[0], 0, 1e-7);
- CPPUNIT_ASSERT_DOUBLES_EQUAL(output[1], 0.999998*1e-5*3600000/175.0, 1e-5);
+ CPPUNIT_ASSERT_DOUBLES_EQUAL(output[1], 0.999998*1e-5*(360/TWO_PI)*3600000/175.0, 1e-5);
}
void HFSTest::testParameterUpdate()
{
struct hfs_state state;
- struct hfs_parameters update;
- struct centroid_packet output;
+ hfs_parameters update;
+ centroid_packet output;
char path[] = "./test/HFS_config_test.xml";
char* real_path = realpath(path, NULL);
FGS fgs(real_path);
@@ -161,13 +163,14 @@ void HFSTest::testParameterUpdate()
update.sync_flag = 1;
update.time = 0.015626;
update.channel = 1;
- update.mode = "Standby";
+ update.mode = 0;
update.save = 0;
update.reset = 0;
update.set_invalid = 0;
update.ang_rate[0] = 1e-5;
update.ang_rate[1] = 1e-5;
update.ang_rate[2] = 1e-5;
+ update.validation_signal = 100000;
fgs.set_params(update, &output);
state = fgs.get_hfs_state();
@@ -177,7 +180,7 @@ void HFSTest::testParameterUpdate()
state = fgs.get_hfs_state();
CPPUNIT_ASSERT(strcmp(state.mode, "Standby") == 0);
- update.mode = "Tracking";
+ update.mode = 2;
update.sync_flag = 0;
fgs.set_params(update, &output);
fgs.set_params(update, &output);
diff --git a/test/example.cpp b/test/example.cpp
index e065b9a086792799cb509e9ddb5fb800a46f7e16..8d43b9513bbc447acafd7f63a3b8e50fc2a20877 100644
--- a/test/example.cpp
+++ b/test/example.cpp
@@ -18,7 +18,7 @@ int main()
double sum_x_tra, sum_y_tra, sum_x_acq, sum_y_acq; /*Values for mean*/
/*Quaternion to put WASP-11 in the center of the DRF*/
/*The resuling measurement of the */
- double quat[4] = {3.77743614e-01, 4.02209431e-05, -8.95172007e-01,2.36594249e-01 };
+ double quat[4] = {0.8892834993148474, -0.0006038143244162956, 0.2873837014059442, -0.3557880006700909};
/*Initialise FGS simulator by calling constructor*/
FGS fgs(real_path);
@@ -58,6 +58,9 @@ int main()
/*mark all cantroid packets as invalid*/
update.set_invalid = 0;
+ /*Set signal for target identification in ADU/s*/
+ update.validation_signal = 100000;
+
/*Unit quaternion of the current SC attitude in reference to J2000*/
update.position_quat[0] = quat[0];
update.position_quat[1] = quat[1];
@@ -170,8 +173,8 @@ int main()
std::cout << "Sim is " << output.time / (ms_double.count()/1000) << " times faster than real time!\n";
std::cout << "Mean Measurement for Tracking: \n x: " << sum_x_tra/ctr_tra << "\n y: " << sum_y_tra/ctr_tra << "\n\n";
- std::cout << "Tracking Reference Values: \n x: ~ 248mas\n y: ~ 387mas\n\n";
+ std::cout << "Tracking Reference Values: \n x: ~ 256mas\n y: ~ 983mas\n\n";
std::cout << "Mean Measurement for Acquisition: \n x: " << sum_x_acq/ctr_acq << "\n y: " << sum_y_acq/ctr_acq << "\n\n";
- std::cout << "Acquisition Reference Values: \n x: ~ 276mas\n y: ~ 267mas\n\n";
+ std::cout << "Acquisition Reference Values: \n x: ~ 237mas\n y: ~ 911mas\n\n";
}