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param to enable/disable STR for rot rate calc
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This commit is contained in:
Marius Eggert 2023-11-14 16:23:12 +01:00
parent c465558543
commit 5512605cd7
2 changed files with 4 additions and 2 deletions
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1
mission/controller/acs/AcsParameters.h
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@ -910,6 +910,7 @@ class AcsParameters : public HasParametersIF {
struct StrParameters {
double exclusionAngle = 20 * M_PI / 180;
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // geometry frame
uint8_t useStrForRotRate = true;
} strParameters;
struct GpsParameters {

5
mission/controller/acs/FusedRotationEstimation.cpp
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@ -8,8 +8,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
const double timeDelta, acsctrl::FusedRotRateData *fusedRotRateData) {
if (sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid()) {
if (acsParameters->strParameters.useStrForRotRate and
(sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) {
double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
if (VectorOperations<double>::norm(quatOld, 4) != 0 and timeDelta != 0) {