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we can only use the nullspace if all rws are available
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Marius Eggert
2024-01-26 10:50:11 +01:00
parent ff5e1cd76b
commit 42b94ab581
2 changed files with 8 additions and 3 deletions
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3
mission/controller/acs/control/PtgCtrl.h
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@ -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);