2022-09-19 15:17:39 +02:00
|
|
|
/*
|
|
|
|
|
* Guidance.h
|
|
|
|
|
*
|
|
|
|
|
* Created on: 6 Jun 2022
|
|
|
|
|
* Author: Robin Marquardt
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#ifndef GUIDANCE_H_
|
|
|
|
|
#define GUIDANCE_H_
|
|
|
|
|
|
|
|
|
|
|
2022-09-27 11:06:11 +02:00
|
|
|
#include "AcsParameters.h"
|
|
|
|
|
#include "SensorValues.h"
|
|
|
|
|
#include "OutputValues.h"
|
2022-09-26 13:23:20 +02:00
|
|
|
#include <time.h>
|
2022-09-19 15:17:39 +02:00
|
|
|
|
|
|
|
|
|
|
|
|
|
class Guidance {
|
|
|
|
|
public:
|
|
|
|
|
Guidance(AcsParameters *acsParameters_);
|
|
|
|
|
virtual ~Guidance();
|
|
|
|
|
|
|
|
|
|
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
|
|
|
|
|
|
|
|
|
|
// Function to get the target quaternion and refence rotation rate from gps position and position of the ground station
|
|
|
|
|
void targetQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
|
|
|
|
|
double targetQuat[4], double refSatRate[3]);
|
|
|
|
|
|
2022-10-28 18:18:28 +02:00
|
|
|
// Function to get the target quaternion and refence rotation rate for sun pointing after ground station
|
|
|
|
|
void sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
|
|
|
|
|
double targetQuat[4], double refSatRate[3]);
|
|
|
|
|
|
2022-09-19 15:17:39 +02:00
|
|
|
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and desired
|
|
|
|
|
void comparePtg( double targetQuat[4], ACS::OutputValues *outputValues, double refSatRate[3], double quatError[3], double deltaRate[3] );
|
|
|
|
|
|
|
|
|
|
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid reation wheel
|
|
|
|
|
// maybe can be done in "commanding.h"
|
|
|
|
|
void getDistributionMatrixRw(ACS::SensorValues* sensorValues, double *rwPseudoInv);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
private:
|
|
|
|
|
AcsParameters acsParameters;
|
|
|
|
|
bool strBlindAvoidFlag = false;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#endif /* ACS_GUIDANCE_H_ */
|
