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Merge branch 'develop' into eggert/acs
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Marius Eggert
2023-02-08 13:21:49 +01:00
parent 36f20d235c 7c53cafbbe
commit 098fcc4f12
24 changed files with 289 additions and 198 deletions
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40
mission/controller/acs/AcsParameters.h
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@ -51,26 +51,28 @@ class AcsParameters : public HasParametersIF {
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0}; //{19.89364, -29.94111, -31.07508};
float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0}; //{10.95500, -8.053403, -33.36383};
float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0}; //{15.72181, -26.87090, -62.19010};
float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
{-0.188413, 1.642303, -0.033184},
{-0.161522, -0.033184, 0.943904}};
float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
{-0.170225, 1.274465, -0.040231},
{-0.041678, -0.040231, 1.086352}};
float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
{0.172675, 1.541296, 0.065489},
{-0.043084, 0.065489, 1.001238}};
float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
{0.177266, 1.262156, 0.010478},
{-0.058832, 0.010478, 1.068345}};
float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm0softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
-127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
{-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
float mgm1softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
{-4.146410e-2, 109.3310e-2, -5.246314e-2},
{-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
float mgm2softIronInverse[3][3] = {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
{15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};