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eive-obsw
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imagine being a newspace company and not even knowing what a mathematically positive sense of rotation is
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This commit is contained in:
Marius Eggert 2024-01-25 11:32:37 +01:00
parent 54187e47c1
commit 6c90777e4b
2 changed files with 16 additions and 16 deletions
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8
mission/controller/acs/AcsParameters.cpp
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@ -333,16 +333,16 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
break;
case 0x2:
parameterWrapper->setMatrix(rwMatrices.without1);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
break;
case 0x3:
parameterWrapper->setMatrix(rwMatrices.without2);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
break;
case 0x4:
parameterWrapper->setMatrix(rwMatrices.without3);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
break;
case 0x5:
parameterWrapper->setMatrix(rwMatrices.without4);
parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
break;
case 0x6:
parameterWrapper->setVector(rwMatrices.nullspaceVector);

24
mission/controller/acs/AcsParameters.h
View File

@ -812,19 +812,19 @@ class AcsParameters : public HasParametersIF {
} rwHandlingParameters;
struct RwMatrices {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
double alignmentMatrix[3][4] = {{-0.9205, 0.0000, 0.9205, 0.0000},
{0.0000, 0.9205, 0.0000, -0.9205},
{-0.3907, -0.3907, -0.3907, -0.3907}};
double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without1[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without2[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
double without3[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
{-0.5432, 0, -0.6399}, {0, 0.5432, -0.6399}, {0.5432, 0, -0.6399}, {0, -0.5432, -0.6399}};
double pseudoInverseWithoutRW1[4][3] = {
{0, 0, 0}, {-0.5432, 0.5432, -1.2798}, {1.0864, 0, 0}, {-0.5432, -0.5432, -1.2798}};
double pseudoInverseWithoutRW2[4][3] = {
{-0.5432, 0.5432, -1.2798}, {0, 0, 0}, {0.5432, 0.5432, -1.2798}, {0, -1.0864, 0}};
double pseudoInverseWithoutRW3[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2798}, {0, 0, 0}, {-0.5432, 0.5432, 1.2798}};
double pseudoInverseWithoutRW4[4][3] = {
{-0.5432, -0.5432, -1.2798}, {0, 1.0864, 0}, {0.5432, -0.5432, -1.2798}, {0, 0, 0}};
double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices;