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make Robin even happier
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Marius Eggert
2023-04-27 11:21:02 +02:00
parent 5c0dceef27
commit 2d8fc781ce
2 changed files with 8 additions and 10 deletions
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8
mission/controller/acs/control/PtgCtrl.cpp
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@ -5,9 +5,7 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
#include <mission/controller/acs/util/MathOperations.h>
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
@ -135,7 +133,9 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(*speedRw0), static_cast<double>(*speedRw1),
static_cast<double>(*speedRw2), static_cast<double>(*speedRw3)};
double wheelMomentum[4] = {0, 0, 0, 0};
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
// conversion to [rad/s] for further calculations