eive/eive-obsw
eive/eive-obsw
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fixed parameters

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This commit is contained in:
Marius Eggert 2023-04-14 16:47:53 +02:00
parent 4e6b3ec9ed
commit 4693407b68
1 changed files with 23 additions and 15 deletions
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38
mission/controller/acs/AcsParameters.h
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@ -22,19 +22,27 @@ class AcsParameters : public HasParametersIF {
} onBoardParams;
struct InertiaEIVE {
// Possible inertia matrices
double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021
double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
{-0.0001798426, 0.162240, 0.000475596},
{-0.005008, 0.000475596, 0.060136}}; // 19.11.2021
double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
{-0.0001836122, 0.16619787, 0.0083537},
{-0.00501207, 0.0083537, 0.07192588}}; // 19.11.2021
double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
{-0.000178376, 0.166172, -0.007403},
{-0.005009767, -0.007403, 0.07195314}};
/* Possible inertia matrices
* 2023-04-14
* all matrices derived from the CAD model with CAD mass of 8.72 kg
* all matrices are scaled by final measured mass of 8.756 kg
* all matrices are in [kg m^2]
*/
double inertiaMatrixDeployed[3][3] = {
{0.128333461640235, -0.000151805020803, -0.004178414952517},
{-0.000151805020803, 0.141791062870050, 0.000395791231451},
{-0.004178414952517, 0.000395791231451, 0.069793610830099}};
double inertiaMatrixUndeployed[3][3] = {
{0.102082611845982, -0.000149885620646, -0.004174050971653},
{-0.000149885620646, 0.135214836333048, 0.000396374487363},
{-0.004174050971653, 0.000396374487363, 0.050118987572848}};
double inertiaMatrixPanel1[3][3] = {{0.115207454653725, -0.000153027308288, -0.004177193002842},
{-0.000153027308288, 0.138513727361148, 0.006962185987503},
{-0.004177193002842, 0.006962185987503, 0.059944939352491}};
double inertiaMatrixPanel3[3][3] = {
{0.115208618832493, -0.000148663333161, -0.004175272921328},
{-0.000148663333161, 0.138492171841952, -0.006170020268690},
{-0.004175272921328, -0.006170020268690, 0.059967659050454}};
} inertiaEIVE;
struct MgmHandlingParameters {
@ -810,11 +818,11 @@ class AcsParameters : public HasParametersIF {
} rwMatrices;
struct SafeModeControllerParameters {
double k_orthoMekf = 3.25e-2;
double k_orthoMekf = 4.4e-3;
double k_alignMekf = 4.0e-5;
double k_parallelMekf = 3.75e-4;
double k_orthoNonMekf = 3.25e-2;
double k_orthoNonMekf = 4.4e-3;
double k_alignNonMekf = 4.0e-5;
double k_parallelNonMekf = 3.75e-4;