During two months on the cmu-argus-2/FSW-mainboard repository, Holophrasis developed and refactored core Attitude Determination and Control System (ADCS) features for spacecraft flight software. They implemented a MEKF-based sensor fusion core in Python, integrating GPS, sun sensor, magnetometer, and gyro data for robust state estimation. Their work included state-driven task orchestration, detumbling logic, and orbit propagation using numerical integration with NumPy. Holophrasis addressed critical bugs in orbital mechanics calculations, improving navigation accuracy and reliability. The refactored architecture centralized sensor handling, streamlined initialization, and reduced system complexity, laying a strong foundation for autonomous pointing and future payload integration.
February 2025 monthly summary for cmu-argus-2/FSW-mainboard: Highlights include a major refactor of the Attitude Determination System (ADCS) with centralized sensor readings, improved state estimation, and integration of TRIAD/EKF updates. The work streamlined initialization flows and enhanced time handling. A system-task consolidation reduced complexity by removing IMU as a separate task and reverting the hardware configuration to ARGUSv2. A critical bug fix in orbit propagation eliminated a division-by-zero in acceleration calculations and ensured correct state-vector concatenation during integration, improving trajectory accuracy and reliability.
February 2025 monthly summary for cmu-argus-2/FSW-mainboard: Highlights include a major refactor of the Attitude Determination System (ADCS) with centralized sensor readings, improved state estimation, and integration of TRIAD/EKF updates. The work streamlined initialization flows and enhanced time handling. A system-task consolidation reduced complexity by removing IMU as a separate task and reverting the hardware configuration to ARGUSv2. A critical bug fix in orbit propagation eliminated a division-by-zero in acceleration calculations and ensured correct state-vector concatenation during integration, improving trajectory accuracy and reliability.
January 2025 performance summary: Delivered key enhancements to the FSW-mainboard ADCS stack, focusing on robust Attitude Determination, state-driven task orchestration, and foundational orbit propagation. The MEKF-based Attitude Determination Core now initializes and fuses GPS, sun sensor, magnetometer, and gyro data, including EKF updates for sun sensor and magnetic field. The ADCS task loop was refactored to operate by state with explicit detumbling thresholds, improving safety and predictability. Orbit propagation was enhanced with GPS-driven velocity and Euler integration, plus a bug fix to Earth's mu ensuring accurate position/velocity estimates. Business value: increased navigation accuracy, safer detumble behavior, and an early-ready foundation for autonomous pointing and deeper propulsion/payload alignment; architecture supports easier extension and testing.
January 2025 performance summary: Delivered key enhancements to the FSW-mainboard ADCS stack, focusing on robust Attitude Determination, state-driven task orchestration, and foundational orbit propagation. The MEKF-based Attitude Determination Core now initializes and fuses GPS, sun sensor, magnetometer, and gyro data, including EKF updates for sun sensor and magnetic field. The ADCS task loop was refactored to operate by state with explicit detumbling thresholds, improving safety and predictability. Orbit propagation was enhanced with GPS-driven velocity and Euler integration, plus a bug fix to Earth's mu ensuring accurate position/velocity estimates. Business value: increased navigation accuracy, safer detumble behavior, and an early-ready foundation for autonomous pointing and deeper propulsion/payload alignment; architecture supports easier extension and testing.
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