eive-obsw/mission/controller/acs/control/SafeCtrl.h

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/*
* safeCtrl.h
*
* Created on: 19 Apr 2022
* Author: rooob
*/
#ifndef SAFECTRL_H_
#define SAFECTRL_H_
#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include "../AcsParameters.h"
#include "../OutputValues.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
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class SafeCtrl {
public:
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
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static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
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void loadAcsParameters(AcsParameters *acsParameters_);
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ReturnValue_t safeMekf(timeval now, double *quatBJ, bool *quatBJValid, double *magFieldModel,
bool *magFieldModelValid, double *sunDirModel, bool *sunDirModelValid,
double *satRateMekf, bool *rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputMagMomB, bool *outputValid);
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void safeNoMekf(timeval now, double *susDirB, bool *susDirBValid, double *sunRateB,
bool *sunRateBValid, double *magFieldB, bool *magFieldBValid, double *magRateB,
bool *magRateBValid, double *sunDirRef, double *satRateRef, double *outputMagMomB,
bool *outputValid);
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void idleSunPointing(); // with reaction wheels
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protected:
private:
AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
double gainMatrixInertia[3][3];
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double magFieldBState[3];
timeval magFieldBStateTime;
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};
#endif /* ACS_CONTROL_SAFECTRL_H_ */