eive-obsw/mission/controller/acs/control/Detumble.cpp

/*
 * Detumble.cpp
 *
 *  Created on: 17 Aug 2022
 *      Author: Robin Marquardt
 */

#include "Detumble.h"

#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h>

#include "../util/MathOperations.h"

Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }

Detumble::~Detumble() {}

void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
  detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
  magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}

ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool *magRateValid,
		const double *magField, const bool *magFieldValid,
		double *magMom) {

	if (!magRateValid || !magFieldValid) {
		return DETUMBLE_NO_SENSORDATA;
	}
	double gain = detumbleParameter->gainD;
	double factor = -gain / pow(VectorOperations<double>::norm(magField,3),2);
	VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
	return returnvalue::OK;

}

ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
                                    double *magMom) {
  if (!magRateValid) {
    return DETUMBLE_NO_SENSORDATA;
  }

  double dipolMax = magnetorquesParameter->DipolMax;
  for (int i = 0; i < 3; i++) {
    magMom[i] = -dipolMax * sign(magRate[i]);
  }

	return returnvalue::OK;

}

ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
		const double *magField, const bool *magFieldValid,
		double *magMom) {

	if (!satRateValid || !magFieldValid) {
		return DETUMBLE_NO_SENSORDATA;
	}
	double gain = detumbleParameter->gainD;
	double factor = -gain / pow(VectorOperations<double>::norm(magField,3),2);
	VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
	return returnvalue::OK;

}