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better solution for actuatorCmd
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This commit is contained in:
Marius Eggert
2023-02-27 17:36:33 +01:00
parent 5c30adb9bb
commit 26369039da
3 changed files with 37 additions and 34 deletions
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14
mission/controller/acs/ActuatorCmd.h
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@ -1,14 +1,13 @@
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
class ActuatorCmd {
public:
ActuatorCmd(); // Input mode ?
ActuatorCmd();
virtual ~ActuatorCmd();
/*
@ -17,8 +16,7 @@ class ActuatorCmd {
* @param: rwTrq given torque for reaction wheels
* rwTrqScaled possible scaled torque
*/
void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled,
AcsParameters::RwHandlingParameters *rwHandlingParameters);
void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled, double maxTorque);
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
@ -29,9 +27,9 @@ class ActuatorCmd {
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
AcsParameters *acsParameters);
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
double inertiaWheel);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
@ -40,7 +38,7 @@ class ActuatorCmd {
* dipolMomentActuator resulting dipol moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
AcsParameters::MagnetorquerParameter *magnetorquerParameter);
const double *inverseAlignment, double maxDipol);
protected:
private: