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another RW speed scaling fix
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Marius Eggert 2023-06-01 17:11:55 +02:00
parent c6664c5cbf
commit 0fe7b256ec
1 changed files with 1 additions and 0 deletions
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mission/controller/acs/control/PtgCtrl.cpp
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@ -111,6 +111,7 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// calculate resulting angular momentum // calculate resulting angular momentum
double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0}; double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4); VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, 1e-1, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel, VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
rwAngMomentum, 4); rwAngMomentum, 4);