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

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/*
* PtgCtrl.h
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded torque
* for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
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#include "../SensorValues.h"
#include "../OutputValues.h"
#include "../AcsParameters.h"
#include "../config/classIds.h"
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#include <string.h>
#include <stdio.h>
#include <time.h>
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class PtgCtrl{
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public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode,const double *qError,const double *deltaRate,const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool *magFieldEstValid, double *satRate, double *speedRw0,
double *speedRw1, double *speedRw2, double *speedRw3, double *mgtDpDes);
void ptgNullspace(const double *speedRw0, const double *speedRw1, const double *speedRw2, const double *speedRw3, double *rwTrqNs);
private:
AcsParameters::PointingModeControllerParameters* pointingModeControllerParameters;
AcsParameters::RwHandlingParameters* rwHandlingParameters;
AcsParameters::InertiaEIVE* inertiaEIVE;
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AcsParameters::RwMatrices* rwMatrices;
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};
#endif /* ACS_CONTROL_PTGCTRL_H_ */