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this gonna be fun
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This commit is contained in:
Marius Eggert
2023-11-02 16:59:09 +01:00
parent 65f907448c
commit 60a348a08f
9 changed files with 90 additions and 46 deletions
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18
mission/controller/acs/Guidance.cpp
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@ -495,24 +495,24 @@ void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double time
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
double *rwPseudoInv) {
bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());
bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());
if (rw1valid && rw2valid && rw3valid && rw4valid) {
if (rw1valid and rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
return returnvalue::OK;
} else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
} else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
} else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
} else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
} else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
return returnvalue::OK;
} else {