Fix Version/s: None
Sprint:TSSW Sprint - Aug 02 - Aug 16
Team:Telescope and Site
Update the MTHexapod CSC for changes in the telemetry and configuration data from the low-level controller in
Also stop reading current and voltage in the telemetry. It turns out that tis change never merged and there's no estimate of when it might be merged.
- is blocked by
DM-31283 MTHexapod: please add hexCmd_mic_deg back to the telemetry
- is child task of
CAP-760 Catch all ticket for TSSW XML 10.0 (formerly 9.2) work
- is triggered by
DM-30811 Please have the hexapod send exactly the same telemetry and config data to the EUI and CSC
- is triggering
DM-31724 Change MT hexapod CSC to read and report 3 bus voltages, not 6 actuator voltages
Most of telemetry are mystery to me. Unfortunately, the original MOOG developer believed the "clean code" and thought the variable name could explain itself. I could only do my best and there is no promise for this in
I think I found everything I need except hexCmd_mic_deg (though I hope someday to understand some of the other fields; we may want to publish them!). The mapping from old to new field names includes:
- strutEncoderRaw -> extBissEncoderRaw
- strutEncoder_microns -> EstPos_M_n (and it is probably not the raw encoder counts translated to microns)
- hexCmd_mic_deg -> (does not exist and is needed)
- hexPos_mic_deg -> Posn_Est, Rn_Est
- rawCmd_microns -> (does not exist; not used)
DM-31283 to request the missing the data in hexCmd_mic_deg be added to the new telemetry packet (and in hopes of getting at least a little more documentation).
DM-31283 Te-Wei Tsai said we would provide the missing rawCmd_microns using CSC order (x y z u v w, instead of EUI order u v w x y z) as the last item in telemetry. I wrote this code assuming that. (But we could easily change my code, if a different order is preferred).
Thank you for a very helpful review. I fixed the telemetry format. I'll wait to release this until ts_hexapod_controller v1.1.7 is released (including the commanded position field from
It does not require ts_xml 9.2, though if that is released in time it may be worth updating the code to make the timestamp field in the encoders telemetry topic required instead of optional.
Te-Wei Tsai I have some questions about the new telemetry fields (most of them, unfortunately – documentation in the .h file would be a big help; I'll suggest that on
What are the following: