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added calibration matrices for testing
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Marius Eggert 2023-01-27 11:18:55 +01:00
parent 03ec64672b
commit 24d2405fc8
1 changed files with 20 additions and 16 deletions
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36
mission/controller/acs/AcsParameters.h
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@ -37,23 +37,27 @@ 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] = {-3.009521e1, 1.600983e1, -3.025359e1};
float mgm1hardIronOffset[3] = {-3.255443e1, 1.118625e1, -8.400313e0};
float mgm2hardIronOffset[3] = {-6.194874e1, 1.561503e1, -2.911635e1};
float mgm3hardIronOffset[3] = {-3.986654e1, 1.413371e1, -9.778686e0};
float mgm4hardIronOffset[3] = {-3.046779e1, 1.690829e1, -6.597055e0};
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 mgm0softIronInverse[3][3] = {{9.385532e-1, -1.261877e-1, -8.086912e-2},
{-1.261877e-1, 1.415967e0, -6.953750e-3},
{-8.086912e-2, -6.953750e-3, 1.014963e0}};
float mgm1softIronInverse[3][3] = {{1.054248e0, -1.867005e-1, -4.884622e-2},
{-1.867005e-1, 1.272026e0, -4.212676e-2},
{-4.884622e-2, -4.212676e-2, 1.091061e0}};
float mgm2softIronInverse[3][3] = {{9.474586e-1, 1.506282e-1, -7.002351e-2},
{1.506282e-1, 1.427704e0, 7.247630e-2},
{-7.002351e-2, 7.247630e-2, 9.822354e-1}};
float mgm3softIronInverse[3][3] = {{1.082337e0, 1.971590e-1, -6.910370e-2},
{1.971590e-1, 1.265329e0, 1.301571e-2},
{-6.910370e-2, 1.301571e-2, 1.072459e0}};
float mgm4softIronInverse[3][3] = {{1.094184e0, -1.765240e-2, -3.580871e-2},
{-1.765240e-2, 1.250533e0, 8.302781e-3},
{-3.580871e-2, 8.302781e-3, 1.325068e0}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};