eive/eive-obsw
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removed even more deprecated code
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This commit is contained in:
Marius Eggert
2023-04-13 15:02:07 +02:00
parent ae729337a2
commit 673826b131
5 changed files with 26 additions and 33 deletions
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21
mission/controller/acs/control/SafeCtrl.cpp
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@ -29,8 +29,7 @@ uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t
void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
const double *sunDirModelI, const double *quatBI, const double *sunDirRefB,
const double satRotRateRef, const double inertiaMatrix[3][3],
double *magMomB, double &errorAngle) {
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -43,7 +42,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(satRotRateRef, sunDirB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelMekf,
acsParameters->safeModeControllerParameters.k_orthoMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -59,8 +58,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
const double *sunDirB, const double *sunDirRefB,
const double satRotRateRef, const double inertiaMatrix[3][3],
double *magMomB, double &errorAngle) {
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -70,7 +68,7 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(satRotRateRef, sunDirB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
@ -86,8 +84,7 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
}
void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
const double satRotRateRef, const double *sunDirRefB,
double *magMomB, double &errorAngle) {
const double *sunDirRefB, double *magMomB, double &errorAngle) {
// convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -95,7 +92,7 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
errorAngle = NAN;
splitRotationalRate(satRotRateB, sunDirRefB);
calculateRotationalRateTorque(satRotRateRef, sunDirRefB, sunDirRefB, errorAngle,
calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelNonMekf,
acsParameters->safeModeControllerParameters.k_orthoNonMekf);
@ -115,9 +112,9 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
}
void SafeCtrl::calculateRotationalRateTorque(const double satRotRateRef, const double *sunDirB,
const double *sunDirRefB, double &errorAngle,
const double gainParallel, const double gainOrtho) {
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
double &errorAngle, const double gainParallel,
const double gainOrtho) {
// calculate torque for parallel rotational rate
VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);