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fixed rw torque scaling
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This commit is contained in:
Marius Eggert
2023-03-10 17:31:12 +01:00
parent bce8df376a
commit 342ff62837
4 changed files with 22 additions and 29 deletions
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13
mission/controller/acs/ActuatorCmd.cpp
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@ -14,17 +14,14 @@ ActuatorCmd::ActuatorCmd() {}
ActuatorCmd::~ActuatorCmd() {}
void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled, double maxTorque) {
double maxValue = 0;
for (int i = 0; i < 4; i++) {
if (abs(rwTrq[i]) > maxValue) {
maxValue = abs(rwTrq[i]);
}
}
void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(rwTrq, 4, &maxIdx);
double maxValue = rwTrq[maxIdx];
if (maxValue > maxTorque) {
double scalingFactor = maxTorque / maxValue;
VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrqScaled, 4);
VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrq, 4);
}
}