changelog

CHANGELOG.md

@@ -20,6 +20,7 @@ will consitute of a breaking change warranting a new major release:
 - `SensorProcessing` now includes an FDIR for GPS altitude. If the measured GPS altitude is out
   of bounds of the range defined in the `AcsParameters`, the altitude defaults to an altitude
   set in the `AcsParameters`.
+- `AcsController` will now never command a RW speed larger than the maximum allowed speed.
 
 ## Fixed
 

mission/controller/acs/control/PtgCtrl.cpp

@@ -78,19 +78,19 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
       pErrorSign[i] = pError[i];
     }
   }
-  //	Torque for quaternion error
+  // torque for quaternion error
   double torqueQuat[3] = {0, 0, 0};
   MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
   VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
 
-  //  Torque for rate error
+  // torque for rate error
   double torqueRate[3] = {0, 0, 0};
   MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrix), deltaRate,
                                      torqueRate, 3, 3, 1);
   VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
   VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
 
-  //	Final commanded Torque for every reaction wheel
+  // final commanded Torque for every reaction wheel
   double torque[3] = {0, 0, 0};
   VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
   MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
@@ -137,7 +137,7 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
   double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
   double wheelMomentum[4] = {0, 0, 0, 0};
   double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
-  // Conversion to [rad/s] for further calculations
+  // conversion to [rad/s] for further calculations
   VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
   VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
   double diffRwSpeed[4] = {0, 0, 0, 0};