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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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10
mission/controller/acs/control/PtgCtrl.h
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@ -2,6 +2,7 @@
#define PTGCTRL_H_
#include <math.h>
#include <mission/acs/defs.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <stdio.h>
@ -9,7 +10,7 @@
class PtgCtrl {
/*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
* torque for the reaction wheels, and magnetic Field strength for magnetorquer for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
@ -21,6 +22,11 @@ class PtgCtrl {
PtgCtrl(AcsParameters *acsParameters_);
virtual ~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);
/* @brief: Calculates the needed torque for the pointing control mechanism
*/
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
@ -36,7 +42,7 @@ class PtgCtrl {
const int32_t speedRw3, double *mgtDpDes);
/* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after antistiction
* torqueCommand modified torque after anti-stiction
*/
void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);