2022-09-19 15:03:25 +02:00
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/*
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* ActuatorCmd.h
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*
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* Created on: 4 Aug 2022
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* Author: Robin Marquardt
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*/
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#ifndef ACTUATORCMD_H_
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#define ACTUATORCMD_H_
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2022-09-20 15:06:05 +02:00
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#include <AcsParameters.h>
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#include <SensorProcessing.h>
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#include <MultiplicativeKalmanFilter.h>
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#include <SensorValues.h>
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#include <OutputValues.h>
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2022-09-19 15:03:25 +02:00
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class ActuatorCmd{
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public:
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ActuatorCmd(AcsParameters *acsParameters_); //Input mode ?
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virtual ~ActuatorCmd();
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/*
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* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction wheels, also
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* will calculate the needed revolutions per minute for the RWs, which will be given
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* as Input to the RWs
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* @param: rwTrqIn given torque from pointing controller
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* rwTrqNS Nullspace torque
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* rwCmdSpeed output revolutions per minute for every reaction wheel
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*/
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void cmdSpeedToRws(const double *speedRw0, const double *speedRw1, const double *speedRw2, const double *speedRw3,
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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
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*
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* @param: dipolMoment given dipol moment in spacecraft frame
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* dipolMomentUnits resulting dipol moment for every unit
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*/
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void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
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protected:
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private:
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AcsParameters acsParameters;
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};
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#endif /* ACTUATORCMD_H_ */
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