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Merge remote-tracking branch 'origin/main' into sus-vector-fix-new-v3.1.1
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Robin Müller
2023-06-20 18:21:12 +02:00
parent 7a119bab6e 86d22affe2
commit 3ee9a914cc
74 changed files with 2888 additions and 1426 deletions
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14
mission/controller/acs/AcsParameters.h
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@ -782,9 +782,9 @@ class AcsParameters : public HasParametersIF {
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;
@ -799,6 +799,8 @@ class AcsParameters : public HasParametersIF {
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
uint32_t multipleRwInvalidTimeout = 25;
} rwHandlingParameters;
struct RwMatrices {
@ -815,7 +817,7 @@ class AcsParameters : public HasParametersIF {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices;
struct SafeModeControllerParameters {
@ -839,7 +841,9 @@ class AcsParameters : public HasParametersIF {
double om = 0.3;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double nullspaceSpeed = 32500; // 0.1 RPM
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
@ -932,7 +936,7 @@ class AcsParameters : public HasParametersIF {
double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double dipolMax = 0.2; // [Am^2]
double dipoleMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms]
} magnetorquerParameter;