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Merge branch 'develop' into eggert/acs-ctrl-action-cmds

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This commit is contained in:
Marius Eggert
2023-02-24 09:18:25 +01:00
parent 89518a035a 104d9647fe
commit 7392012a00
45 changed files with 852 additions and 475 deletions
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12
mission/controller/AcsController.h
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@@ -40,6 +40,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void performPointingCtrl();
private:
static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;
@@ -94,11 +98,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
int16_t mtqTargetDipole[3]);
void updateActuatorCmdData(const int16_t* mtqTargetDipole);
void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
const int16_t* mtqTargetDipole);
void updateCtrlValData(double errAng);
void updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
void disableCtrlValData();
/* ACS Sensor Values */