eive-obsw/mission/controller/acs/ActuatorCmd.h

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/*
* ActuatorCmd.h
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
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#include "AcsParameters.h"
#include "SensorProcessing.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorValues.h"
#include "OutputValues.h"
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class ActuatorCmd{
public:
ActuatorCmd(AcsParameters *acsParameters_); //Input mode ?
virtual ~ActuatorCmd();
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction wheels, also
* will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* rwCmdSpeed output revolutions per minute for every reaction wheel
*/
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void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, const double *rwTrqIn,
const double *rwTrqNS, double *rwCmdSpeed);
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/*
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* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentUnits resulting dipol moment for every unit
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
protected:
private:
AcsParameters acsParameters;
};
#endif /* ACTUATORCMD_H_ */