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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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35
mission/controller/acs/control/PtgCtrl.cpp
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@ -10,6 +10,41 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_
PtgCtrl::~PtgCtrl() {}
acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled,
const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::ControlModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::ControlModeStrategy::SAFECTRL_MEKF;
} else if (sunDirValid) {
if (gyrEnabled and satRotRateValid) {
return acs::ControlModeStrategy::SAFECTRL_GYR;
} else if (not gyrEnabled and fusedRateTotalValid) {
return acs::ControlModeStrategy::SAFECTRL_SUSMGM;
} else {
return acs::ControlModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} else if (not sunDirValid) {
if (dampingEnabled) {
if (gyrEnabled and satRotRateValid) {
return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
} else {
return acs::ControlModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} else if (not dampingEnabled and satRotRateValid) {
return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {
return acs::ControlModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} else {
return acs::ControlModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
}
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
double *torqueRws) {