2022-09-20 13:46:42 +02:00
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/*
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* safeCtrl.h
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*
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* Created on: 19 Apr 2022
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* Author: rooob
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*/
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#ifndef SAFECTRL_H_
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#define SAFECTRL_H_
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2022-09-27 11:06:11 +02:00
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#include "../SensorValues.h"
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#include "../OutputValues.h"
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#include "../AcsParameters.h"
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#include "../config/classIds.h"
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2022-09-20 13:46:42 +02:00
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#include <string.h>
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#include <stdio.h>
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#include <time.h>
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2022-09-27 11:06:11 +02:00
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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2022-09-20 13:46:42 +02:00
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2022-09-26 10:39:57 +02:00
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class SafeCtrl{
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2022-09-20 13:46:42 +02:00
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public:
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SafeCtrl(AcsParameters *acsParameters_);
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virtual ~SafeCtrl();
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static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
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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,
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double *magFieldModel, bool *magFieldModelValid,
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double *sunDirModel, bool *sunDirModelValid,
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double *satRateMekf, bool *rateMekfValid,
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double *sunDirRef, double *satRatRef, // From Guidance (!)
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double *outputMagMomB, bool *outputValid);
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void safeNoMekf(timeval now, double *susDirB, bool *susDirBValid,
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double *sunRateB, bool *sunRateBValid,
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double *magFieldB, bool *magFieldBValid,
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double *magRateB, bool *magRateBValid,
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double *sunDirRef, double *satRateRef,
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double *outputMagMomB, bool *outputValid);
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void idleSunPointing(); // with reaction wheels
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protected:
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private:
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AcsParameters::SafeModeControllerParameters* safeModeControllerParameters;
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AcsParameters::InertiaEIVE* inertiaEIVE;
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double gainMatrixInertia[3][3];
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double magFieldBState[3];
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timeval magFieldBStateTime;
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};
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#endif /* ACS_CONTROL_SAFECTRL_H_ */
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