129 lines
4.6 KiB
C++
129 lines
4.6 KiB
C++
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#include <fsfw/src/fsfw/globalfunctions/constants.h>
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#include "AcsParameters.h"
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#include <stddef.h>
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#include <cmath>
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AcsParameters::AcsParameters() {
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onBoardParams.sampleTime = 0.1;
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inertiaEIVE.inertiaMatrix = {{ 1, 0, 0},
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{ 0, 1, 0},
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{ 0,0.5, 1}};
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mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
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{ 0, 1, 0},
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{ 1, 0, 0}};
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/*mgmHandlingParameters.mgm1orientationMatrix = {{ 0, 0, 1},
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{ 0,-1, 0},
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{ 1, 0, 0}};
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mgmHandlingParameters.mgm2orientationMatrix = {{ 0, 0,-1},
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{ 0, 1, 0},
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{ 1 ,0, 0}};
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mgmHandlingParameters.mgm3orientationMatrix = {{ 0, 0, 1},
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{ 0,-1, 0},
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{ 1, 0, 0}};
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mgmHandlingParameters.mgm4orientationMatrix = {{ 0, 0,-1},
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{-1, 0, 0},
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{ 0, 1, 0}};*/
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rwHandlingParameters.inertiaWheel = 0.000028198;
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rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
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//Geometry frame
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rwMatrices.alignmentMatrix = {{ 0.9205, 0,-0.9205, 0},
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{ 0,-0.9205, 0, 0.9205},
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{ 0.3907, 0.3907, 0.3907, 0.3907}};
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rwMatrices.pseudoInverse = {{ 0.4434,-0.2845, 0.3597},
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{ 0.2136,-0.3317, 1.0123},
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{-0.8672,-0.1406, 0.1778},
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{ 0.6426, 0.4794, 1.3603}};
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rwMatrices.nullspace = {-0.7358, 0.5469,-0.3637,-0.1649};
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kalmanFilterParameters.sensorNoiseSS = 8 * Math::PI / 180;
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kalmanFilterParameters.sensorNoiseMAG = 4 * Math::PI / 180;
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kalmanFilterParameters.sensorNoiseSTR = 0.1 * Math::PI / 180;
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sunModelParameters.domega = 36000.771;
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sunModelParameters.omega_0 = 282.94 * Math::PI / 180.;
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sunModelParameters.dm = 35999.049;
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sunModelParameters.m_0 = 357.5256;
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sunModelParameters.e = 23.4392911 * Math::PI / 180.;
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sunModelParameters.e = 0.74508 * Math::PI / 180.;
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sunModelParameters.p1 = 6892. / 3600. * Math::PI / 180.;
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sunModelParameters.p2 = 72. / 3600. * Math::PI / 180.;
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safeModeControllerParameters.k_rate_mekf = 0.00059437;
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safeModeControllerParameters.k_align_mekf = 0.000056875;
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safeModeControllerParameters.sunTargetDir = {1,0,0};
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detumbleCtrlParameters.gainD = pow(10.0,-3.3);
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// Stuttgart
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groundStationParameters.latitudeGs = 48.7495 * Math::PI / 180.;
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groundStationParameters.longitudeGs = 9.10384 * Math::PI / 180.;
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groundStationParameters.altitudeGs = 500;
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groundStationParameters.earthRadiusEquat = 6378137;
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groundStationParameters.earthRadiusPolar = 6356752.314;
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// Geometry frame
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targetModeControllerParameters.refDirection = {1,0,0};
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targetModeControllerParameters.refRotRate = {0,0,0};
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targetModeControllerParameters.quatRef = {0,0,0,1};
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targetModeControllerParameters.avoidBlindStr = true;
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targetModeControllerParameters.blindAvoidStart = 1.5;
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targetModeControllerParameters.blindAvoidStop = 2.5;
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targetModeControllerParameters.blindRotRate = 1 * Math::PI /180;
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targetModeControllerParameters.zeta = 0.3;
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targetModeControllerParameters.om = 0.3;
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targetModeControllerParameters.qiMin = 0.1;
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targetModeControllerParameters.omMax = 1 * Math::PI / 180;
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targetModeControllerParameters.gainNullspace = 0.01;
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targetModeControllerParameters.desatMomentumRef = {0,0,0};
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targetModeControllerParameters.deSatGainFactor = 1000;
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targetModeControllerParameters.desatOn = true;
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targetModeControllerParameters.omegaEarth = 0.000072921158553;
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strParameters.boresightAxis = { 0.7593, 0,-0.6508};
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strParameters.exclusionAngle = 20 * Math::PI /180;
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magnetorquesParameter.mtq0orientationMatrix = {{ 1, 0, 0},
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{ 0, 0, 1},
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{ 0,-1, 0}};
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magnetorquesParameter.mtq1orientationMatrix = {{ 1, 0, 0},
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{ 0, 1, 0},
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{ 0, 0, 1}};
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magnetorquesParameter.mtq2orientationMatrix = {{ 0, 0, 1},
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{ 0, 1, 0},
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{-1, 0, 0}};
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magnetorquesParameter.alignmentMatrixMtq = {{ 0, 0,-1},
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{-1, 0, 0},
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{ 0, 1, 0}};
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magnetorquesParameter.inverseAlignment = {{ 0,-1, 0},
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{ 0, 0, 1},
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{-1, 0, 0}};
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magnetorquesParameter.DipolMax = 0.2;
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}
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AcsParameters::~AcsParameters() {
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}
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/*
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ReturnValue_t AcsParameters::getParameter(uint8_t domainId,
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uint16_t parameterId, ParameterWrapper* parameterWrapper,
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const ParameterWrapper *newValues, uint16_t startAtIndex) {
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return 0;
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}*/
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