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

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/*
* Detumble.cpp
*
* Created on: 17 Aug 2022
* Author: Robin Marquardt
*/
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#include "Detumble.h"
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#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>
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#include <math.h>
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#include "../util/MathOperations.h"
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Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
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Detumble::~Detumble() {}
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void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
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detumbleParameter = &(acsParameters_->detumbleParameter);
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magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
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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]);
}
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return returnvalue::OK;
}
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ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
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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;
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}