Merge branch 'develop' into eggert/acs-ctrl-action-cmds

mission/controller/acs/Guidance.h

@@ -1,10 +1,3 @@
-/*
- * Guidance.h
- *
- *  Created on: 6 Jun 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_
 
@@ -24,49 +17,40 @@ class Guidance {
 
   // Function to get the target quaternion and refence rotation rate from gps position and
   // position of the ground station
-  void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
-                              acsctrl::GpsDataProcessed *gpsDataProcessed,
-                              acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                              double refSatRate[3]);
-  void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                       acsctrl::SusDataProcessed *susDataProcessed,
-                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                       double targetQuat[4], double refSatRate[3]);
-  void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                               acsctrl::SusDataProcessed *susDataProcessed,
-                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                               double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
+                               double refDirB[3], double quatBI[4], double targetQuat[4],
+                               double targetSatRotRate[3]);
+  void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
+                              double targetSatRotRate[3]);
+  void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
+                       double targetSatRotRate[3]);
 
   // Function to get the target quaternion and refence rotation rate for sun pointing after ground
   // station
-  void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                  acsctrl::SusDataProcessed *susDataProcessed,
-                  acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
-                  double refSatRate[3]);
+  void targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from gps position for Nadir
   // pointing
-  void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
-                             acsctrl::GpsDataProcessed *gpsDataProcessed,
-                             acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                             double refSatRate[3]);
-  void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                              timeval now, double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+                                    double targetQuat[4], double refDirB[3], double refSatRate[3]);
+  void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+                                   double targetQuat[4], double refSatRate[3]);
 
-  // Function to get the target quaternion and refence rotation rate from parameters for inertial
-  // pointing
-  void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
+  // @note: Calculates the error quaternion between the current orientation and the target
+  // quaternion, considering a reference quaternion. Additionally the difference between the  actual
+  // and a desired satellite rotational rate is calculated, again considering a reference rotational
+  // rate. Lastly gives back the error angle of the error quaternion.
+  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                  double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
+                  double errorQuat[4], double errorSatRotRate[3], double errorAngle);
+  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
+                  double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
+                  double errorAngle);
 
-  // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
-  // desired
-  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
-                  double refSatRate[3], double quatErrorComplete[4], double quatError[3],
-                  double deltaRate[3]);
+  void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                          double *targetSatRotRate);
 
-  void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                       double *refSatRate);
-
-  //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
+  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
   ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);