eive/eive-obsw
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added Antistiction, added Nadir Pointing, added performSafe()
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This commit is contained in:
Robin Marquardt
2022-11-08 13:48:50 +01:00
parent 75ab11fc35
commit 20936faec6
9 changed files with 213 additions and 57 deletions
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11
mission/controller/acs/control/PtgCtrl.h
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@ -52,11 +52,22 @@ class PtgCtrl {
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low
* @param: rwAvailable Boolean Flag for all reaction wheels
* omegaRw current wheel speed of reaction wheels
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(const bool* rwAvailable, const double* omegaRw,
double* torqueCommand);
private:
AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
double torqueMemory[4];
double omegaMemory[4];
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */