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Merge remote-tracking branch 'origin/develop' into rw_refactoring

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Robin Müller
2023-02-16 16:02:39 +01:00
parent a026f5e2d0 efe63b394c
commit 6be54a9485
7 changed files with 113 additions and 112 deletions
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12
mission/controller/acs/AcsParameters.h
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@ -73,9 +73,9 @@ class AcsParameters : public HasParametersIF {
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm02variance[3] = {1, 1, 1};
float mgm13variance[3] = {1, 1, 1};
float mgm4variance[3] = {1, 1, 1};
float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 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)};
} mgmHandlingParameters;
struct SusHandlingParameters {
@ -779,9 +779,9 @@ class AcsParameters : public HasParametersIF {
/* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr02variance[3] = {pow(3.0e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = true;
} gyrHandlingParameters;

7
mission/controller/acs/ActuatorCmd.cpp
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@ -1,10 +1,3 @@
/*
* ActuatorCmd.cpp
*
* Created on: 4 Aug 2022
* Author: Robin Marquardt
*/
#include "ActuatorCmd.h"
#include <fsfw/globalfunctions/constants.h>

9
mission/controller/acs/Igrf13Model.cpp
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@ -20,6 +20,7 @@ Igrf13Model::~Igrf13Model() {}
void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
const double altitude, timeval timeOfMagMeasurement,
double* magFieldModelInertial) {
double magFieldModel[3] = {0, 0, 0};
double phi = longitude, theta = gcLatitude; // geocentric
/* Here is the co-latitude needed*/
theta -= 90 * PI / 180;
@ -100,12 +101,8 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
magFieldModelInertial[2] =
magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
double normVecMagFieldInert[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
magFieldModel[0] = 0;
magFieldModel[1] = 0;
magFieldModel[2] = 0;
// convert nT to uT
VectorOperations<double>::mulScalar(magFieldModelInertial, 1e-3, magFieldModelInertial, 3);
}
void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {

1
mission/controller/acs/Igrf13Model.h
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@ -47,7 +47,6 @@ class Igrf13Model /*:public HasParametersIF*/ {
// Coefficient wary over year, could be updated sometimes.
void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
double magFieldModel[3];
void schmidtNormalization();
private: