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params for new safe mode

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This commit is contained in:
Marius Eggert 2023-09-06 14:37:04 +02:00
parent c709bd0881
commit 63b6db258c
1 changed files with 6 additions and 6 deletions
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12
mission/controller/acs/AcsParameters.h
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@ -79,7 +79,7 @@ class AcsParameters : public HasParametersIF {
float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)}; float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)}; float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
float mgmVectorFilterWeight = 0.85; float mgmVectorFilterWeight = 0.85;
float mgmDerivativeFilterWeight = 0.85; float mgmDerivativeFilterWeight = 0.99;
uint8_t useMgm4 = false; uint8_t useMgm4 = false;
} mgmHandlingParameters; } mgmHandlingParameters;
@ -771,7 +771,7 @@ class AcsParameters : public HasParametersIF {
-0.000889232196185857, -0.00168429567131815}}; -0.000889232196185857, -0.00168429567131815}};
float susBrightnessThreshold = 0.7; float susBrightnessThreshold = 0.7;
float susVectorFilterWeight = .85; float susVectorFilterWeight = .85;
float susRateFilterWeight = .85; float susRateFilterWeight = .99;
} susHandlingParameters; } susHandlingParameters;
struct GyrHandlingParameters { struct GyrHandlingParameters {
@ -834,15 +834,15 @@ class AcsParameters : public HasParametersIF {
double k_alignGyr = 4.0e-5; double k_alignGyr = 4.0e-5;
double k_parallelGyr = 3.75e-4; double k_parallelGyr = 3.75e-4;
double k_orthoSusMgm = 1.1e-2; double k_orthoSusMgm = 4.4e-3;
double k_alignSusMgm = 2.0e-5; double k_alignSusMgm = 4.0e-5;
double k_parallelSusMgm = 4.4e-4; double k_parallelSusMgm = 3.75e-4;
double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)}; double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
double sunTargetDir[3] = {0, 0, 1}; double sunTargetDir[3] = {0, 0, 1};
uint8_t useMekf = false; uint8_t useMekf = false;
uint8_t useGyr = true; uint8_t useGyr = false;
uint8_t dampingDuringEclipse = true; uint8_t dampingDuringEclipse = true;
float sineLimitSunRotRate = 0.24; float sineLimitSunRotRate = 0.24;