Merge pull request #63 from ut-issl/develop

main merge for Major update v4.0.0

.github/ISSUE_TEMPLATE/action_item.md

@@ -16,6 +16,7 @@ assignees: ''
 ## 備考
 なにかあれば
 
+<!--
 ## 注意
 - 割り当てれるなら`Assignees`を割り当てる
 - `Projects`として`6U AOCS team (private)`を設定する
@@ -29,3 +30,4 @@ assignees: ''
   - minor: 後方互換性ありのI/F変更
   - patch: I/F変更なし
 - テンプレート記述は残さず、削除したり`NA`と書き換えたりする
+-->

.github/ISSUE_TEMPLATE/bug_report.md

@@ -36,6 +36,7 @@ tool類が全部死ぬ... みたいな
 ## 補足
 何かれば
 
+<!--
 ## 注意
 - 割り当てれるなら`Assignees`を割り当てる
 - `Projects`として`6U AOCS team (private)`を設定する
@@ -50,4 +51,4 @@ tool類が全部死ぬ... みたいな
   - minor: 後方互換性ありのI/F変更
   - patch: I/F変更なし
 - テンプレート記述は残さず、削除したり`NA`と書き換えたりする
-
+-->

.github/PULL_REQUEST_TEMPLATE.md

@@ -10,6 +10,7 @@ test へのリンクや，検証結果へのリンク、検証結果の画像を
 ## 補足
 何かあれば書く。なければ`NA`とする。
 
+<!--
 ## 注意
 - 必ず`Reviewers` を設定すること
   - AOCSメンテナメンバー
@@ -25,3 +26,4 @@ test へのリンクや，検証結果へのリンク、検証結果の画像を
   - minor: 後方互換性ありのI/F変更
   - patch: I/F変更なし
 - テンプレート記述は残さず、削除したり`NA`と書き換えたりする
+-->

.github/workflows/build.yml

@@ -14,7 +14,7 @@ on:
       - 'src/**'
 
 env:
-  C2A_AOBC_VERSION: v6.0.1
+  C2A_AOBC_VERSION: v6.1.4
 
 jobs:
   build_s2e_win:

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_policy(SET CMP0048 NEW)
 project(S2E_AOBC
   LANGUAGES CXX
   DESCRIPTION "S2E_AOBC"
-  VERSION 3.0.3
+  VERSION 4.0.0
   )
 
 cmake_minimum_required(VERSION 3.13)

README.md

@@ -81,7 +81,7 @@
 
 - Make the `FlightSW` directory at the same directory with `s2e-aobc`
 - Clone the [C2A-AOBC](https://github.com/ut-issl/c2a-aobc) repository into `FlightSW`
-  - Current support version: [v6.0.0](https://github.com/ut-issl/c2a-aobc/release/tag/v6.0.0)
+  - Current support version: [v7.0.0](https://github.com/ut-issl/c2a-aobc/release/tag/v7.0.0)
 - Directory Construction
   ```
   - s2e-aobc

data/initialize_files/components/nanossoc_d60.ini

@@ -1,4 +1,11 @@
-[SUN_SENSOR_1]
+[GENERAL]
+number_of_mounted_sensors = 4
+
+[POWER_PORT]
+minimum_voltage_V = 3.3
+assumed_power_consumption_W = 0.07
+
+[SUN_SENSOR_0]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -22,11 +29,11 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_0]
+i2c_address = 0x62
 
-[SUN_SENSOR_2]
+
+[SUN_SENSOR_1]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -51,11 +58,11 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_1]
+i2c_address = 0x60
 
-[SUN_SENSOR_3]
+
+[SUN_SENSOR_2]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -80,9 +87,38 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_2]
+i2c_address = 0x63
+
+
+[SUN_SENSOR_3]
+prescaler = 1
+
+// Quaternion from body frame to component frame
+// The sight direction is Z-axis at the component frame
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.70710678118
+quaternion_b2c(2) =-0.70710678118
+quaternion_b2c(3) = 0.0
+
+// Field of View [deg]
+field_of_view_deg = 60.0
+
+// Standard deviation of normal noise[deg]
+white_noise_standard_deviation_deg = 0.1
+
+// Standard deviation of bias noise[deg]
+bias_standard_deviation_deg = 0.5
+
+
+// Threshold of light-receiving intensity[%] 
+// Defined as a percentage to the solar constant
+// If it becomes smaller than this, it becomes impossible to get the sun direction
+intensity_lower_threshold_percent = 30.0
+
+[I2C_PORT_3]
+i2c_address = 0x61
+
 
 [SUN_SENSOR_4]
 prescaler = 1
@@ -109,6 +145,36 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_4]
+i2c_address = 0x64
+
+
+
+
+[SUN_SENSOR_5]
+prescaler = 1
+
+// Quaternion from body frame to component frame
+// The sight direction is Z-axis at the component frame
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.70710678118
+quaternion_b2c(2) =-0.70710678118
+quaternion_b2c(3) = 0.0
+
+// Field of View [deg]
+field_of_view_deg = 60.0
+
+// Standard deviation of normal noise[deg]
+white_noise_standard_deviation_deg = 0.1
+
+// Standard deviation of bias noise[deg]
+bias_standard_deviation_deg = 0.5
+
+
+// Threshold of light-receiving intensity[%] 
+// Defined as a percentage to the solar constant
+// If it becomes smaller than this, it becomes impossible to get the sun direction
+intensity_lower_threshold_percent = 30.0
+
+[I2C_PORT_5]
+i2c_address = 0x65

data/initialize_files/components/rm3100_external.ini

@@ -45,6 +45,9 @@ normal_random_standard_deviation_c_nT(2) = 15.0
 range_to_constant_nT = 1.0e6  // smaller than Range_to_zero
 range_to_zero_nT = 1.5e6
 
+[I2C_PORT_2]
+i2c_address = 0x23
+
 [POWER_PORT]
 minimum_voltage_V = 3.3 // V
 assumed_power_consumption_W = 0.03 //W

data/initialize_files/components/rw0003.ini

@@ -51,6 +51,9 @@ structural_resonance_frequency_Hz = 585.0 //[Hz]
 damping_factor = 0.1 //[ ]
 bandwidth = 0.001 //[ ]
 
+[I2C_PORT_1]
+i2c_address = 0x11
+
 [POWER_PORT]
 minimum_voltage_V = 7.4 // V
 assumed_power_consumption_W = 0.88 //W
@@ -108,6 +111,9 @@ structural_resonance_frequency_Hz = 585.0 //[Hz]
 damping_factor = 0.1 //[ ]
 bandwidth = 0.001 //[ ]
 
+[I2C_PORT_2]
+i2c_address = 0x12
+
 [POWER_PORT]
 minimum_voltage_V = 7.4 // V
 assumed_power_consumption_W = 0.88 //W
@@ -165,6 +171,9 @@ structural_resonance_frequency_Hz = 585.0 //[Hz]
 damping_factor = 0.1 //[ ]
 bandwidth = 0.001 //[ ]
 
+[I2C_PORT_3]
+i2c_address = 0x13
+
 [POWER_PORT]
 minimum_voltage_V = 7.4 // V
 assumed_power_consumption_W = 0.88 //W

data/initialize_files/satellite.ini

@@ -133,10 +133,12 @@ mpu9250_gyro_hils_port_id = 11
 mpu9250_mag_hils_port_id = 12
 rm3100_aobc_hils_port_id = 6
 rm3100_ext_hils_port_id = 5
-nanoSSOC_D60_pz_hils_port_id = 7
-nanoSSOC_D60_py_hils_port_id = 8
-nanoSSOC_D60_mz_hils_port_id = 9
-nanoSSOC_D60_my_hils_port_id = 10
+nanoSSOC_d60_idx_0_hils_port_id = 7
+nanoSSOC_d60_idx_1_hils_port_id = 8
+nanoSSOC_d60_idx_2_hils_port_id = 9
+nanoSSOC_d60_idx_3_hils_port_id = 10
+nanoSSOC_d60_idx_4_hils_port_id = 17
+nanoSSOC_d60_idx_5_hils_port_id = 18
 rw0003_x_hils_port_id = 13
 rw0003_y_hils_port_id = 14
 rw0003_z_hils_port_id = 15

example/data/initialize_files/components/nanossoc_d60.ini

@@ -1,4 +1,11 @@
-[SUN_SENSOR_1]
+[GENERAL]
+number_of_mounted_sensors = 4
+
+[POWER_PORT]
+minimum_voltage_V = 3.3
+assumed_power_consumption_W = 0.07
+
+[SUN_SENSOR_0]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -22,11 +29,11 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_0]
+i2c_address = 0x62
 
-[SUN_SENSOR_2]
+
+[SUN_SENSOR_1]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -51,11 +58,11 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_1]
+i2c_address = 0x60
 
-[SUN_SENSOR_3]
+
+[SUN_SENSOR_2]
 prescaler = 1
 
 // Quaternion from body frame to component frame
@@ -80,9 +87,38 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_2]
+i2c_address = 0x63
+
+
+[SUN_SENSOR_3]
+prescaler = 1
+
+// Quaternion from body frame to component frame
+// The sight direction is Z-axis at the component frame
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.70710678118
+quaternion_b2c(2) =-0.70710678118
+quaternion_b2c(3) = 0.0
+
+// Field of View [deg]
+field_of_view_deg = 60.0
+
+// Standard deviation of normal noise[deg]
+white_noise_standard_deviation_deg = 0.1
+
+// Standard deviation of bias noise[deg]
+bias_standard_deviation_deg = 0.5
+
+
+// Threshold of light-receiving intensity[%] 
+// Defined as a percentage to the solar constant
+// If it becomes smaller than this, it becomes impossible to get the sun direction
+intensity_lower_threshold_percent = 30.0
+
+[I2C_PORT_3]
+i2c_address = 0x61
+
 
 [SUN_SENSOR_4]
 prescaler = 1
@@ -109,6 +145,36 @@ bias_standard_deviation_deg = 0.5
 // If it becomes smaller than this, it becomes impossible to get the sun direction
 intensity_lower_threshold_percent = 30.0
 
-[POWER_PORT]
-minimum_voltage_V = 3.3
-assumed_power_consumption_W = 0.07
+[I2C_PORT_4]
+i2c_address = 0x64
+
+
+
+
+[SUN_SENSOR_5]
+prescaler = 1
+
+// Quaternion from body frame to component frame
+// The sight direction is Z-axis at the component frame
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.70710678118
+quaternion_b2c(2) =-0.70710678118
+quaternion_b2c(3) = 0.0
+
+// Field of View [deg]
+field_of_view_deg = 60.0
+
+// Standard deviation of normal noise[deg]
+white_noise_standard_deviation_deg = 0.1
+
+// Standard deviation of bias noise[deg]
+bias_standard_deviation_deg = 0.5
+
+
+// Threshold of light-receiving intensity[%] 
+// Defined as a percentage to the solar constant
+// If it becomes smaller than this, it becomes impossible to get the sun direction
+intensity_lower_threshold_percent = 30.0
+
+[I2C_PORT_5]
+i2c_address = 0x65

example/data/initialize_files/components/rm3100_external.ini

@@ -45,6 +45,9 @@ normal_random_standard_deviation_c_nT(2) = 15.0
 range_to_constant_nT = 1.0e6  // smaller than Range_to_zero
 range_to_zero_nT = 1.5e6
 
+[I2C_PORT_2]
+i2c_address = 0x23
+
 [POWER_PORT]
 minimum_voltage_V = 3.3 // V
 assumed_power_consumption_W = 0.03 //W