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cleaned up ptgCtrl
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This commit is contained in:
Marius Eggert
2023-02-28 10:47:37 +01:00
parent 84643020da
commit 737d5ecb53
3 changed files with 23 additions and 41 deletions
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11
mission/controller/acs/control/PtgCtrl.h
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@ -33,13 +33,7 @@ class PtgCtrl {
static const uint8_t INTERFACE_ID = CLASS_ID::ACS_PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters for this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
@ -54,15 +48,12 @@ class PtgCtrl {
const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low
* @param: sensorValues class containing all RW related values
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
private:
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
const AcsParameters *acsParameters;
double torqueMemory[4] = {0, 0, 0, 0};
double omegaMemory[4] = {0, 0, 0, 0};