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PTG_TARGET should work now
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This commit is contained in:
Marius Eggert
2023-02-17 15:57:07 +01:00
parent 0d32bc0c0a
commit 0dae3b04be
4 changed files with 43 additions and 26 deletions
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4
mission/controller/acs/control/PtgCtrl.cpp
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@ -27,7 +27,7 @@ void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
}
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *qError, const double *deltaRate, const double *rwPseudoInv,
const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
@ -37,6 +37,8 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qErrorMin = pointingLawParameters->qiMin;
double omMax = pointingLawParameters->omMax;
double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);