eive/eive-obsw
eive
/
eive-obsw
12
3
Fork 0
Code Issues 3 Pull Requests 1 Releases 117 Wiki Activity

we can only use the nullspace if all rws are available
EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details

This commit is contained in:
Marius Eggert 2024-01-26 10:50:11 +01:00
parent ff5e1cd76b
commit 42b94ab581
2 changed files with 8 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -39,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
double kInt = 2 * om * om;
double qErrorLaw[3] = {0, 0, 0};
@ -111,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) {
if (not allRwAvabilable) {
return;
}
// 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)};

3
mission/controller/acs/control/PtgCtrl.h
View File

@ -33,7 +33,8 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
void ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs);