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detumble fixes and improvements
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This commit is contained in:
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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46
mission/controller/acs/control/PtgCtrl.cpp
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@ -1,11 +1,5 @@
#include "PtgCtrl.h"
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
PtgCtrl::~PtgCtrl() {}
@ -146,10 +140,10 @@ void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
4);
}
void PtgCtrl::ptgDesaturation(const bool allRwAvailable,
void PtgCtrl::ptgDesaturation(const bool allRwAvailable, const acsctrl::RwAvail *rwAvail,
AcsParameters::PointingLawParameters *pointingLawParameters,
const double *magFieldB, const bool magFieldBValid,
const double *satRate, const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3, double *mgtDpDes) {
if (not magFieldBValid or not pointingLawParameters->desatOn) {
return;
@ -163,22 +157,24 @@ void PtgCtrl::ptgDesaturation(const bool allRwAvailable,
double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// calculate angular momentum of the satellite
double angMomentumSat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
angMomentumSat, 3, 3, 1);
// calculate angular momentum of the reaction wheels with respect to the nullspace RW speed
// relocate RW speed zero to nullspace RW speed
double refSpeedRws[4] = {0, 0, 0, 0};
if (allRwAvailable) {
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
} else if (VectorOperations<double>::maxAbsValue(speedRws, 4) <
pointingLawParameters->nullspaceSpeed) {
return;
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
if (not allRwAvailable) {
if (not rwAvail->rw1avail) {
refSpeedRws[0] = 0.0;
} else if (not rwAvail->rw2avail) {
refSpeedRws[1] = 0.0;
} else if (not rwAvail->rw3avail) {
refSpeedRws[2] = 0.0;
} else if (not rwAvail->rw4avail) {
refSpeedRws[3] = 0.0;
}
}
VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
// convert speed from 10 RPM to 1 RPM
VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
// convert to rad/s
@ -194,16 +190,12 @@ void PtgCtrl::ptgDesaturation(const bool allRwAvailable,
// calculate total angular momentum
double angMomentumTotal[3] = {0, 0, 0};
VectorOperations<double>::add(angMomentumSat, angMomentumRw, angMomentumTotal, 3);
// calculating momentum error
double deltaAngMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(angMomentumTotal, pointingLawParameters->desatMomentumRef,
deltaAngMomentum, 3);
VectorOperations<double>::add(angMomentumRw, pointingLawParameters->desatMomentumRef,
angMomentumTotal, 3);
// resulting magnetic dipole command
double crossAngMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaAngMomentum, magFieldBT, crossAngMomentumMagField);
VectorOperations<double>::cross(angMomentumTotal, magFieldBT, crossAngMomentumMagField);
double factor =
pointingLawParameters->deSatGainFactor / VectorOperations<double>::norm(magFieldBT, 3);
VectorOperations<double>::mulScalar(crossAngMomentumMagField, factor, mgtDpDes, 3);