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added SUS transformation matrices to AcsParameters
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Marius Eggert 2022-09-22 14:47:53 +02:00
parent 7986686739
commit 4b96997f6c
1 changed files with 12 additions and 0 deletions
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12
mission/controller/acs/AcsParameters.cpp
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@ -35,6 +35,7 @@ AcsParameters::AcsParameters() {
{ 0, 1, 0}}; { 0, 1, 0}};
susHandlingParameters.sus0orientationMatrix = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};
susHandlingParameters.sus0coeffAlpha = { susHandlingParameters.sus0coeffAlpha = {
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707, -0.0163482459492803, {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707, -0.0163482459492803,
0.035730152619911, 0.00021725657060767, -0.000181685375645396, -0.000124096561459262, 0.035730152619911, 0.00021725657060767, -0.000181685375645396, -0.000124096561459262,
@ -91,6 +92,7 @@ AcsParameters::AcsParameters() {
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461, -0.0355980127727253, {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461, -0.0355980127727253,
-0.0213373892796204, 0.00045506092539885, 0.000545065581027688, 0.000141998709314758, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688, 0.000141998709314758,
0.000101051304611037}}; 0.000101051304611037}};
susHandlingParameters.sus1orientationMatrix = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
susHandlingParameters.sus1coeffAlpha = { susHandlingParameters.sus1coeffAlpha = {
{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084, {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176, -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
@ -147,6 +149,7 @@ AcsParameters::AcsParameters() {
{-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815, 0.0887545371234514, {-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815, 0.0887545371234514,
-0.193862330062381, 0.000216532998121618, -0.00207707610520973, 0.000552928905346826, -0.193862330062381, 0.000216532998121618, -0.00207707610520973, 0.000552928905346826,
0.00190182163597828}}; 0.00190182163597828}};
susHandlingParameters.sus2orientationMatrix = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};
susHandlingParameters.sus2coeffAlpha = { susHandlingParameters.sus2coeffAlpha = {
{6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588, {6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05, 0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
@ -203,6 +206,7 @@ AcsParameters::AcsParameters() {
{-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197, -0.0380997421813177, {-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197, -0.0380997421813177,
-0.0581898335691109, 0.00111464935006159, 0.000559313074537689, 0.000168067749764069, -0.0581898335691109, 0.00111464935006159, 0.000559313074537689, 0.000168067749764069,
0.000563224178849256}}; 0.000563224178849256}};
susHandlingParameters.sus3orientationMatrix = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
susHandlingParameters.sus3coeffAlpha = { susHandlingParameters.sus3coeffAlpha = {
{-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986, -0.242523652239734, {-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986, -0.242523652239734,
-0.202086838965846, -0.00138648793335223, -0.00225430176012882, -0.00198887215340364, -0.202086838965846, -0.00138648793335223, -0.00225430176012882, -0.00198887215340364,
@ -259,6 +263,7 @@ AcsParameters::AcsParameters() {
{44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562, 0.108087933176612, {44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562, 0.108087933176612,
-0.116711715153385, -0.00194260120960441, -0.0015752762498594, -0.000331129410732722, -0.116711715153385, -0.00194260120960441, -0.0015752762498594, -0.000331129410732722,
0.00125896996438418}}; 0.00125896996438418}};
susHandlingParameters.sus4orientationMatrix = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};
susHandlingParameters.sus4coeffAlpha = { susHandlingParameters.sus4coeffAlpha = {
{-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283, {-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283,
-0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497, -0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497,
@ -315,6 +320,7 @@ AcsParameters::AcsParameters() {
{-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647, {-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647,
-0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745, -0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745,
0.000698140692952438, 0.00123017528239406}}; 0.000698140692952438, 0.00123017528239406}};
susHandlingParameters.sus5orientationMatrix = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};
susHandlingParameters.sus5coeffAlpha = { susHandlingParameters.sus5coeffAlpha = {
{-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049, -0.0309683799946315, {-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049, -0.0309683799946315,
-0.0562201123081437, 0.000522607299552916, -0.000375386573815007, -0.000183899715035788, -0.0562201123081437, 0.000522607299552916, -0.000375386573815007, -0.000183899715035788,
@ -371,6 +377,7 @@ AcsParameters::AcsParameters() {
{-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539, -0.0542697403292778, {-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539, -0.0542697403292778,
0.0285360568428252, 0.000845084580479371, 0.00114184315411245, -0.000169538153750085, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245, -0.000169538153750085,
-0.000336529204350355}}; -0.000336529204350355}};
susHandlingParameters.sus6orientationMatrix = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};
susHandlingParameters.sus6coeffAlpha = { susHandlingParameters.sus6coeffAlpha = {
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293, {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146, 0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
@ -427,6 +434,7 @@ AcsParameters::AcsParameters() {
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785, 0.0581479035315726, {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785, 0.0581479035315726,
-0.111361283351269, -0.00047845777495158, -0.00075354297736741, -0.000186887396585446, -0.111361283351269, -0.00047845777495158, -0.00075354297736741, -0.000186887396585446,
0.00119710704771344}}; 0.00119710704771344}};
susHandlingParameters.sus7orientationMatrix = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
susHandlingParameters.sus7coeffAlpha = { susHandlingParameters.sus7coeffAlpha = {
{-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523, {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
-0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283, -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
@ -483,6 +491,7 @@ AcsParameters::AcsParameters() {
{191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644, 0.331529493933124, {191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644, 0.331529493933124,
0.149867703984027, -0.00222279201444128, -0.00284724570619954, -0.00298774060233964, 0.149867703984027, -0.00222279201444128, -0.00284724570619954, -0.00298774060233964,
-0.000988903783752156}}; -0.000988903783752156}};
susHandlingParameters.sus8orientationMatrix = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};
susHandlingParameters.sus8coeffAlpha = { susHandlingParameters.sus8coeffAlpha = {
{5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431, {5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431,
-0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058, -0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058,
@ -539,6 +548,7 @@ AcsParameters::AcsParameters() {
{64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591, 0.0898786950946473, {64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591, 0.0898786950946473,
0.128910456296131, -8.27123227422217e-05, -0.000143979624107479, -0.00146684876653306, 0.128910456296131, -8.27123227422217e-05, -0.000143979624107479, -0.00146684876653306,
-0.00102226799570239}}; -0.00102226799570239}};
susHandlingParameters.sus9orientationMatrix = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
susHandlingParameters.sus9coeffAlpha = { susHandlingParameters.sus9coeffAlpha = {
{65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703, 0.119985456538482, {65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703, 0.119985456538482,
0.142746712551924, -0.000465882328687976, 0.000606525132125852, 0.00141667074621881, 0.142746712551924, -0.000465882328687976, 0.000606525132125852, 0.00141667074621881,
@ -595,6 +605,7 @@ AcsParameters::AcsParameters() {
{-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584, -0.0625549615377418, {-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584, -0.0625549615377418,
0.019178365782485, 0.000664877496455304, 0.000942971403881222, 0.000190754698755098, 0.019178365782485, 0.000664877496455304, 0.000942971403881222, 0.000190754698755098,
-0.000372226659190439}}; -0.000372226659190439}};
susHandlingParameters.sus10orientationMatrix = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};
susHandlingParameters.sus10coeffAlpha = { susHandlingParameters.sus10coeffAlpha = {
{14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299, {14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965, 0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
@ -651,6 +662,7 @@ AcsParameters::AcsParameters() {
{-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427, {-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427,
-0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439, -0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439,
0.000551249824375055, 0.00062236627391337}}; 0.000551249824375055, 0.00062236627391337}};
susHandlingParameters.sus11orientationMatrix = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};
susHandlingParameters.sus11coeffAlpha = { susHandlingParameters.sus11coeffAlpha = {
{-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707, {-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707,
-0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528, -0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528,