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fixed minor bugs
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Marius Eggert
2022-09-27 11:57:15 +02:00
parent 5f17f365e3
commit 4a1cce19c4
8 changed files with 48 additions and 43 deletions
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26
mission/controller/acs/AcsParameters.h
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@ -845,13 +845,13 @@ public:
bool avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * Math::PI /180;
double blindRotRate = 1 * M_PI /180;
double zeta = 0.3;
double zetaLow;
double om = 0.3;
double omLow;
double omMax = 1 * Math::PI / 180;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
@ -867,7 +867,7 @@ public:
struct StrParameters {
double exclusionAngle = 20 * Math::PI /180;
double exclusionAngle = 20 * M_PI /180;
// double strOrientationMatrix[3][3];
double boresightAxis[3] = { 0.7593, 0.0000,-0.6508}; //in body/geometry frame
} strParameters;
@ -876,8 +876,8 @@ public:
} gpsParameters;
struct GroundStationParameters {
double latitudeGs = 48.7495 * Math::PI / 180.; // [rad] Latitude
double longitudeGs = 9.10384 * Math::PI / 180.; // [rad] Longitude
double latitudeGs = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeGs = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeGs = 500; // [m] Altitude
double earthRadiusEquat = 6378137; // [m]
double earthRadiusPolar = 6356752.314; // [m]
@ -889,15 +889,15 @@ public:
};
uint8_t useSunModel;
float domega = 36000.771;
float omega_0 = 282.94 * Math::PI / 180.; //RAAN plus argument of perigee
float omega_0 = 282.94 * M_PI / 180.; //RAAN plus argument of perigee
float m_0 = 357.5256; //coefficients for mean anomaly
float dm = 35999.049; //coefficients for mean anomaly
// ToDo: check correct assignment of e and e1. Both were assigned to e before
float e = 23.4392911 * Math::PI / 180.; //angle of earth's rotation axis
float e1 = 0.74508 * Math::PI / 180.;
float e = 23.4392911 * M_PI / 180.; //angle of earth's rotation axis
float e1 = 0.74508 * M_PI / 180.;
//
float p1 = 6892. / 3600. * Math::PI / 180.; //some parameter
float p2 = 72. / 3600. * Math::PI / 180.; //some parameter
float p1 = 6892. / 3600. * M_PI / 180.; //some parameter
float p2 = 72. / 3600. * M_PI / 180.; //some parameter
} sunModelParameters;
struct KalmanFilterParameters {
@ -907,9 +907,9 @@ public:
double processNoiseOmega[3];
double processNoiseQuaternion[4];
double sensorNoiseSTR = 0.1 * Math::PI / 180;
double sensorNoiseSS = 8 * Math::PI / 180;
double sensorNoiseMAG = 4 * Math::PI / 180;
double sensorNoiseSTR = 0.1 * M_PI / 180;
double sensorNoiseSS = 8 * M_PI / 180;
double sensorNoiseMAG = 4 * M_PI / 180;
double sensorNoiseRMU[3];
double sensorNoiseArwRmu; //Angular Random Walk