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detumble fixes and improvements
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Marius Eggert
2024-02-29 10:25:02 +01:00
parent a2a360c1d7
commit 557051ba37
7 changed files with 66 additions and 55 deletions
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22
mission/controller/AcsController.cpp
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@ -396,7 +396,7 @@ void AcsController::performPointingCtrl() {
bool allRwAvailable = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv, &rwAvail);
if (result == acsctrl::MULTIPLE_RW_UNAVAILABLE) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
@ -433,8 +433,8 @@ void AcsController::performPointingCtrl() {
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
allRwAvailable, &acsParameters.idleModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB,
allRwAvailable, &rwAvail, &acsParameters.idleModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
break;
@ -456,8 +456,8 @@ void AcsController::performPointingCtrl() {
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
allRwAvailable, &acsParameters.targetModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB,
allRwAvailable, &rwAvail, &acsParameters.targetModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
break;
@ -476,8 +476,8 @@ void AcsController::performPointingCtrl() {
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
allRwAvailable, &acsParameters.gsTargetModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB,
allRwAvailable, &rwAvail, &acsParameters.gsTargetModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
break;
@ -498,8 +498,8 @@ void AcsController::performPointingCtrl() {
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
allRwAvailable, &acsParameters.nadirModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB,
allRwAvailable, &rwAvail, &acsParameters.nadirModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
break;
@ -520,8 +520,8 @@ void AcsController::performPointingCtrl() {
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation(
allRwAvailable, &acsParameters.inertialModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(), rotRateB,
allRwAvailable, &rwAvail, &acsParameters.inertialModeControllerParameters,
mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
break;