eive/eive-obsw
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added inertial pointing
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Robin Marquardt
2022-11-14 17:16:47 +01:00
parent 20936faec6
commit 55dec574c5
7 changed files with 38 additions and 19 deletions
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19
mission/controller/AcsController.cpp
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@@ -43,7 +43,7 @@ void AcsController::performControlOperation() {
performDetumble();
break;
case SUBMODE_PTG_GS:
case SUBMODE_PTG_TARGET:
performPointingCtrl();
break;
@@ -113,7 +113,8 @@ void AcsController::performSafe() {
sunTargetDir, satRateSafe, magMomMtq, &magMomMtqValid);
}
double dipolCmdUnits[3] = {0, 0, 0};
actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
}
void AcsController::performDetumble() {
@@ -154,7 +155,8 @@ void AcsController::performPointingCtrl() {
ACS::SensorValues sensorValues;
ACS::OutputValues outputValues;
timeval now; // Übergabe ?
timeval now;
Clock::getClock_timeval(&now);
sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
ReturnValue_t validMekf;
@@ -162,14 +164,17 @@ void AcsController::performPointingCtrl() {
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
switch (submode) {
case SUBMODE_PTG_GS:
case SUBMODE_PTG_TARGET:
guidance.targetQuatPtg(&sensorValues, &outputValues, now, targetQuat, refSatRate);
break;
case SUBMODE_PTG_SUN:
guidance.sunQuatPtg(&sensorValues, &outputValues, targetQuat, refSatRate);
break;
case SUBMODE_PTG_NADIR:
guidance.targetQuatNadirPtg(&sensorValues, &outputValues, now, targetQuat, refSatRate);
guidance.quatNadirPtg(&sensorValues, &outputValues, now, targetQuat, refSatRate);
break;
case SUBMODE_PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
break;
}
double quatError[3] = {0, 0, 0}, deltaRate[3] = {0, 0, 0};
@@ -188,8 +193,8 @@ void AcsController::performPointingCtrl() {
if (acsParameters.pointingModeControllerParameters.enableAntiStiction) {
bool rwAvailable[4] = {true, true, true, true}; // WHICH INPUT SENSOR SET?
double rwSpeed[4] = {&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value)};
int32_t rwSpeed[4] = {(sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
(sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
}