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englando too hard

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This commit is contained in:
Marius Eggert
2023-04-27 10:33:43 +02:00
committed by Robin Mueller
parent 0ff7e0f97a
commit 6705ede2fc
6 changed files with 33 additions and 38 deletions
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27
mission/controller/AcsController.cpp
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@ -210,9 +210,8 @@ void AcsController::performSafe() {
break;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
// detumble check and switch
if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
@ -234,8 +233,8 @@ void AcsController::performSafe() {
}
updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration);
}
@ -287,9 +286,8 @@ void AcsController::performDetumble() {
break;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@ -310,8 +308,8 @@ void AcsController::performDetumble() {
}
disableCtrlValData();
updateActuatorCmdData(cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration);
}
@ -495,13 +493,12 @@ void AcsController::performPointingCtrl() {
if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
}
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);