2022-09-20 13:43:26 +02:00
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#ifndef PTGCTRL_H_
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#define PTGCTRL_H_
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2023-04-27 11:21:02 +02:00
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#include <math.h>
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#include <mission/controller/acs/AcsParameters.h>
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#include <mission/controller/acs/SensorValues.h>
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2022-09-20 13:43:26 +02:00
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#include <stdio.h>
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2022-10-12 15:06:24 +02:00
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class PtgCtrl {
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2023-03-10 17:21:52 +01:00
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/*
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* @brief: This class handles the pointing control mechanism. Calculation of an commanded
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* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
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*
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* @note: A description of the used algorithms can be found in
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
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*/
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2022-10-12 15:06:24 +02:00
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public:
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/* @brief: Constructor
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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*/
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PtgCtrl(AcsParameters *acsParameters_);
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virtual ~PtgCtrl();
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/* @brief: Calculates the needed torque for the pointing control mechanism
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*/
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2023-01-23 16:34:52 +01:00
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void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
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const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
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2022-10-12 15:06:24 +02:00
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2023-01-23 16:34:52 +01:00
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void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
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const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
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2022-10-12 15:06:24 +02:00
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const int32_t *speedRw3, double *rwTrqNs);
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2023-05-03 09:35:46 +02:00
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void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
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const double *magFieldB, const bool magFieldBValid, const double *satRate,
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const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
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const int32_t speedRw3, double *mgtDpDes);
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2022-11-08 13:48:50 +01:00
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/* @brief: Commands the stiction torque in case wheel speed is to low
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* torqueCommand modified torque after antistiction
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*/
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2023-03-10 17:21:52 +01:00
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void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
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2022-11-08 13:48:50 +01:00
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2022-10-12 15:06:24 +02:00
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private:
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2023-02-28 10:47:37 +01:00
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const AcsParameters *acsParameters;
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2023-04-27 13:52:41 +02:00
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static constexpr double RPM_TO_RAD_PER_SEC = (2 * M_PI) / 60;
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2022-09-20 13:43:26 +02:00
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};
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#endif /* ACS_CONTROL_PTGCTRL_H_ */
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