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all used guidance parts and their calls in AcsCrtl should work now
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This commit is contained in:
Marius Eggert
2023-02-20 16:30:53 +01:00
parent 1eb26240b1
commit 40446b1fea
3 changed files with 6 additions and 16 deletions
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11
mission/controller/AcsController.cpp
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@ -335,12 +335,13 @@ void AcsController::performPointingCtrl() {
break;
case acs::PTG_INERTIAL:
guidance.targetQuatPtgInertial(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
4 * sizeof(double));
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),