eive-obsw/mission/controller/acs/Guidance.h

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#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include <time.h>
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
#include "SensorValues.h"
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class Guidance {
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
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void getTargetParamsSafe(double sunTargetSafe[3]);
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ReturnValue_t solarArrayDeploymentComplete();
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// Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station
void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
double refDirB[3], double quatBI[4], double targetQuat[4],
double targetSatRotRate[3]);
void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
double targetSatRotRate[3]);
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void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
double targetSatRotRate[3]);
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// Function to get the target quaternion and reference rotation rate for sun pointing after ground
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// station
void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
double targetSatRotRate[3]);
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// Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing
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void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
double targetQuat[4], double refDirB[3], double refSatRate[3]);
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void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
double targetQuat[4], double refSatRate[3]);
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// @note: Calculates the error quaternion between the current orientation and the target
// quaternion, considering a reference quaternion. Additionally the difference between the actual
// and a desired satellite rotational rate is calculated, again considering a reference rotational
// rate. Lastly gives back the error angle of the error quaternion.
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
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void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
double &errorAngle);
void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *targetSatRotRate);
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// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private:
const AcsParameters *acsParameters;
bool strBlindAvoidFlag = false;
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timeval timeSavedQuaternion;
double savedQuaternion[4] = {0, 0, 0, 0};
double omegaRefSaved[3] = {0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";
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};
#endif /* ACS_GUIDANCE_H_ */