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access to different paramset for every pointing mode
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This commit is contained in:
Robin Marquardt
2023-01-17 20:11:45 +01:00
parent ce3841a23d
commit 44b384cd17
3 changed files with 76 additions and 32 deletions
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8
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -21,14 +21,12 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameter
PtgCtrl::~PtgCtrl() {}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
// TODO: Here correct Parameters have to be loaded according to current submode
pointingLawParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices = &(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgLaw(const double mode, const double *qError, const double *deltaRate,
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
@ -108,7 +106,7 @@ void PtgCtrl::ptgLaw(const double mode, const double *qError, const double *delt
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
@ -139,7 +137,7 @@ void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters * pointingLawParameters, const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};

11
mission/controller/acs/control/PtgCtrl.h
View File

@ -41,14 +41,14 @@ class PtgCtrl {
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgLaw(const double mode, const double *qError, const double *deltaRate,
void ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst,
bool magFieldEstValid, double *satRate, int32_t *speedRw0, int32_t *speedRw1,
int32_t *speedRw2, int32_t *speedRw3, double *mgtDpDes);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
void ptgNullspace(AcsParameters::PointingLawParameters * pointingLawParameters, const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low
@ -59,7 +59,6 @@ class PtgCtrl {
void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
private:
AcsParameters::PointingLawParameters *pointingLawParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;