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

#ifndef GUIDANCE_H_
#define GUIDANCE_H_

#include <time.h>

#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"

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 targetQuatPtgThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
  void targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]);
  void targetQuatPtgSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);

  // Function to get the target quaternion and refence rotation rate for sun pointing after ground
  // station
  void targetQuatPtgSun(timeval now, double targetQuat[4], double refSatRate[3]);

  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
  // pointing
  void targetQuatPtgNadirThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
  void targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);

  // Function to get the target quaternion and refence rotation rate from parameters for inertial
  // pointing
  void targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]);

  // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
  // desired
  void comparePtg(double targetQuat[4], double quatRef[4], double refSatRate[3],
                  double quatErrorComplete[4], double quatError[3], double deltaRate[3]);

  void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
                       double *refSatRate);

  //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
  // reation wheel 	maybe can be done in "commanding.h"
  ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);

 private:
  AcsParameters acsParameters;
  bool strBlindAvoidFlag = false;
  timeval timeSavedQuaternion;
  double savedQuaternion[4] = {0, 0, 0, 0};
  double omegaRefSaved[3] = {0, 0, 0};

  static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
  static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
};

#endif /* ACS_GUIDANCE_H_ */