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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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10
mission/controller/acs/AcsParameters.h
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@ -45,10 +45,10 @@ class AcsParameters /*: public HasParametersIF*/ {
} inertiaEIVE;
struct MgmHandlingParameters {
float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}}; // Documentation not consistent
float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}}; // Documentation not consistent
float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}}; // Documentation not consistent
float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}}; // Documentation not consistent
float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
@ -850,6 +850,8 @@ class AcsParameters /*: public HasParametersIF*/ {
double omegaEarth = 0.000072921158553;
double nadirRefDirection[3] = {-1, 0, 0}; //Camera
double refQuatInertial[4] = {0, 0, 0, 1};
double refRotRateInertial[3] = {0, 0, 0};
} pointingModeControllerParameters, inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
struct StrParameters {

15
mission/controller/acs/Guidance.cpp
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@ -32,9 +32,9 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
timeval now, double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to groundstation
// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
@ -234,7 +234,7 @@ void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *ou
refSatRate[2] = 0;
}
void Guidance::targetQuatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
void Guidance::quatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
@ -301,6 +301,15 @@ void Guidance::targetQuatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputVa
}
void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
for (int i = 0; i < 4; i++) {
targetQuat[i] = acsParameters.inertialModeControllerParameters.refQuatInertial[i];
}
for (int i = 0; i < 3; i++) {
refSatRate[i] = acsParameters.inertialModeControllerParameters.refRotRateInertial[i];
}
}
void Guidance::comparePtg(double targetQuat[4], ACS::OutputValues *outputValues,
double refSatRate[3], double quatError[3], double deltaRate[3]) {
double quatRef[4] = {0, 0, 0, 0};

5
mission/controller/acs/Guidance.h
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@ -31,9 +31,12 @@ public:
double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from gps position for Nadir pointing
void targetQuatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
void quatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from parameters for inertial pointing
void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and desired
void comparePtg( double targetQuat[4], ACS::OutputValues *outputValues, double refSatRate[3], double quatError[3], double deltaRate[3] );

3
mission/controller/acs/control/PtgCtrl.cpp
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@ -165,7 +165,7 @@ void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}
void PtgCtrl::rwAntistiction(const bool* rwAvailable, const double* omegaRw,
void PtgCtrl::rwAntistiction(const bool* rwAvailable, const int32_t* omegaRw,
double* torqueCommand) {
for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) {
@ -196,4 +196,3 @@ void PtgCtrl::rwAntistiction(const bool* rwAvailable, const double* omegaRw,
omegaMemory[i] = omegaRw[i];
}
}
}

2
mission/controller/acs/control/PtgCtrl.h
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@ -57,7 +57,7 @@ class PtgCtrl {
* omegaRw current wheel speed of reaction wheels
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(const bool* rwAvailable, const double* omegaRw,
void rwAntistiction(const bool* rwAvailable, const int32_t* omegaRw,
double* torqueCommand);
private: