Merge pull request 'MTQ Commanding from ACS Ctrl fixes' (#363) from eggert/mtq-cmd-fixes into develop

Reviewed-on: #363
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -26,6 +26,9 @@ change warranting a new major release:
 - Set GPS set entries to invalid on MODE_OFF command.
 - Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
   properly
+- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
+  commands the MTQ to match the actual commanding range.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
 - Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
   future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
 

mission/controller/acs/ActuatorCmd.cpp

@@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
   VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
-  //	Convert to Unit frame
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
+  // Convert to actuator frame
   MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
-  //  Scaling along largest element if dipol exceeds maximum
+                                     dipolMoment, dipolMomentActuator, 3, 3, 1);
+  // Scaling along largest element if dipol exceeds maximum
   double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
   double maxValue = 0;
   for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentUnits[i]) > maxDipol) {
-      maxValue = abs(dipolMomentUnits[i]);
+    if (abs(dipolMomentActuator[i]) > maxDipol) {
+      maxValue = abs(dipolMomentActuator[i]);
     }
   }
-
   if (maxValue > maxDipol) {
     double scalingFactor = maxDipol / maxValue;
-    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+    VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
   }
+  // scale dipole from 1 Am^2 to 1e^-4 Am^2
+  VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
 }

mission/controller/acs/ActuatorCmd.h

@@ -35,9 +35,9 @@ class ActuatorCmd {
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
    *
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
-   * 			dipolMomentUnits	resulting dipol moment for every unit
+   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
 
  protected:
  private:

mission/devices/devicedefinitions/imtqHandlerDefinitions.h

@@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
   // Refresh torque command without changing any of the set dipoles.
   void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
 
-  void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
+  void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
     if (xDipole.value != xDipole_) {
     }
@@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 
-  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
     xDipole_ = xDipole.value;
     yDipole_ = yDipole.value;
     zDipole_ = zDipole.value;