From 798668673941daaaa1a484c6d530c7d1ebe9934a Mon Sep 17 00:00:00 2001 From: Marius Eggert Date: Thu, 22 Sep 2022 13:39:42 +0200 Subject: [PATCH] added SUS calibration coefficients to AcsParameters --- mission/controller/acs/AcsParameters.cpp | 677 ++++++++++++++++++++++- mission/controller/acs/AcsParameters.h | 25 + 2 files changed, 701 insertions(+), 1 deletion(-) diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp index 7f5b26c1..92273e04 100644 --- a/mission/controller/acs/AcsParameters.cpp +++ b/mission/controller/acs/AcsParameters.cpp @@ -1,7 +1,7 @@ #include #include "AcsParameters.h" -//#include +#include #include AcsParameters::AcsParameters() { @@ -34,6 +34,681 @@ AcsParameters::AcsParameters() { {-1, 0, 0}, { 0, 1, 0}}; + + susHandlingParameters.sus0coeffAlpha = { + {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707, -0.0163482459492803, + 0.035730152619911, 0.00021725657060767, -0.000181685375645396, -0.000124096561459262, + 0.00040790566176981}, + {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417, 0.010516766426651, + 0.000446101708841615, 0.00020187044149361, 0.000114957457831415, 1.63114413539632e-05, + -2.0187452317724e-05}, + {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334, 0.053185806861685, + -0.028164943139695, -0.00021098074590512, 0.000643681643489995, -0.000249094601806692, + 0.000231466668650876}, + {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384, + -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05, + -9.78534772816957e-06, -4.72083745991256e-05}, + {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541, + -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463, + 0.00010150571088124, -0.000367705461590854}, + {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526, + -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05, + 6.97244631313601e-05, 2.50519145070895e-05}, + {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191, + -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928, + -1.78466217018177e-05, -0.00058976234038192}, + {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089, + -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06, + -2.73407888222758e-05, 5.45131881032866e-06}, + {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675, + 0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078, + -0.000889196131314391, -0.000509766491897672}}; + susHandlingParameters.sus0coeffBeta = { + {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235, + -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05, + -5.52178824394723e-06, 5.73935295303589e-05}, + {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133, + 0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05, + -7.58501977656551e-05, -8.79809730730992e-05}, + {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518, + 0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341, + -0.00020861690864945}, + {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335, + -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06, + -6.00508568552101e-05, 0.000101583822589461}, + {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729, + -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05, + 0.000316835483508523, 0.000151442890664899}, + {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231, + 0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05, + -9.83662017231755e-05, 1.87078667116619e-05}, + {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016, -0.0481878292619383, + 0.0052773235604729, -0.000428011927975304, 0.000528018208222772, -0.000285438191474895, + -5.71327627917386e-05}, + {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328, + -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05, + -9.77555098179959e-05, 2.09624089449761e-05}, + {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461, -0.0355980127727253, + -0.0213373892796204, 0.00045506092539885, 0.000545065581027688, 0.000141998709314758, + 0.000101051304611037}}; + susHandlingParameters.sus1coeffAlpha = { + {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084, + -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176, + -0.000178087038629721, 4.09208968678946e-05}, + {2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385, 0.0117765927439368, + -0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956, -9.10792250542345e-06, + -2.03870119873411e-05}, + {26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656, + 0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331, + -0.00063621309529853, -0.00158363678978767}, + {-0.221893380318465, 1.29919955307083, 0.21872487901019, 0.0049448219667127, + 0.00291224091529189, 0.00654651987282984, -9.86842469311185e-05, 8.20057454706638e-05, + 6.42331081725944e-05, 7.11656918299053e-05}, + {1.40178843964621, 1.1733111455249, 0.287485528779234, -0.000793970428759834, + 0.000170529273905818, -0.00268807864923086, 9.09553964483881e-05, -0.000271892733575409, + 8.52016306311741e-05, -0.000291797625433646}, + {0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958, + -0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05, + 2.84958344955681e-05, 0.000128583400693359}, + {6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284, -0.0158258335207969, + 0.0328249756354635, 0.00027113042931131, -0.000133980867173428, -0.000357964552318811, + 0.000224235061786191}, + {2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401, + -0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05, + 3.28466749016414e-05, -6.63837547601294e-06}, + {42.615758859473, 2.46617281707273, -5.742515881283, -0.131942799763164, 0.20250702826603, + 0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977, + -0.00058814458116749}}; + susHandlingParameters.sus1coeffBeta = { + {-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722, -0.04872758086642, + -0.0114263851027856, 0.000141061196404012, -0.000675469545483099, -0.000138249928781575, + -0.000138871036200597}, + {10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535, 0.00151674939001532, + -0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05, -4.15760162347772e-05, + -7.60797902457032e-05}, + {-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328, 0.00379001947505376, + -0.165444163648109, 0.000516545385538741, 1.56053219154647e-05, -5.58651971370719e-05, + 0.00173185063955313}, + {12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331, + -0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05, + -5.67352645830913e-05, 0.000232270832022029}, + {4.4338108906594, -0.305276965994378, 1.17293558142526, 0.000152618994429577, + 0.00134432642920902, -0.00104036813342885, 0.000334476082056995, 6.74826804343671e-05, + 0.000275311897725414, 7.58157740577916e-05}, + {3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268, + 0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05, + -2.61224817848938e-05, 6.00381132540332e-05}, + {29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232, -0.0474780142430845, + 0.0486755575785462, 0.000126295091963757, 0.000526632230895258, -0.000259305985126003, + 0.000412751148048724}, + {2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753, + -0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271, + -8.47348746872376e-05, -1.92509604512729e-06}, + {-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815, 0.0887545371234514, + -0.193862330062381, 0.000216532998121618, -0.00207707610520973, 0.000552928905346826, + 0.00190182163597828}}; + susHandlingParameters.sus2coeffAlpha = { + {6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588, + 0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05, + 9.74494676304114e-05, 0.000334122888261002}, + {0.954398509323963, 1.10996214782069, 0.313314231563221, -0.00367553051112208, + 0.0110290193380194, 0.000240079475656232, -6.93444423181303e-05, 0.000107433381295167, + 1.30750132315838e-05, -2.43580795300515e-05}, + {-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258, + 0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709, + -0.000586102213707195, 0.000658133691098817}, + {1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053, 0.00202677073171519, + 0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05, 3.93641210098335e-05, + 4.06398431916703e-05}, + {3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784, + -0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589, + 0.000137876961532787, -0.000326798596746712}, + {6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201, + 0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06, + 7.25318569569788e-06, -2.5930447720704e-05}, + {191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846, -0.344226468125615, + 0.126267158197535, -0.00186612281541009, 0.00304415728817747, -0.00304958575196089, + 0.000457236034569107}, + {5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849, + -0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05, + 5.81988007269583e-05, 1.3723604109425e-05}, + {98.0250669452855, -2.18500123986039, -6.68238707939385, 0.000754807832106659, + 0.256133336978808, 0.110826583415768, 0.000457663127670018, -0.00197655629847616, + -0.00254305206375073, -0.000466731538082995}}; + susHandlingParameters.sus2coeffBeta = { + {41.1102358678699, 2.3034699186519, 2.74551448799899, 0.061701310929235, 0.0317074142089495, + 0.0308171492962288, 0.00049453042200054, 0.000519222896270701, 2.85420168881716e-05, + 0.000259197384126413}, + {4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156, + 0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05, + -5.49439160235527e-05, -8.30708110469922e-05}, + {64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773, -0.077990648565002, + 0.0613989204238974, 0.00055512113297293, -0.000347045533958329, 0.00104059576098392, + -0.000348638726253297}, + {3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723, -0.0067958260462381, + 0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05, -5.55828531601728e-05, + 0.000109833374761172}, + {0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939, + 0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678, + 0.000292373398965513, 0.000183599033441813}, + {2.84967971406268, -0.21374251183113, 1.09938586447269, 2.34894704600407e-05, + 0.00588345375399262, 0.00296966835738407, 8.42707308834155e-06, 2.81870099202641e-06, + -3.56732787246631e-05, -7.04534663356379e-05}, + {-7.59892007483895, 0.358662160515702, 0.805137646978357, 0.00222144376998348, + 0.0464438387809707, 0.00847551828841782, 3.24805702347551e-05, 5.45500807838332e-05, + 0.000941378089367713, 0.000353137737023192}, + {-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975, + 0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05, + -7.47076172176468e-05, -1.94516917836346e-05}, + {-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197, -0.0380997421813177, + -0.0581898335691109, 0.00111464935006159, 0.000559313074537689, 0.000168067749764069, + 0.000563224178849256}}; + susHandlingParameters.sus3coeffAlpha = { + {-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986, -0.242523652239734, + -0.202086838965846, -0.00138648793335223, -0.00225430176012882, -0.00198887215340364, + -0.00160678535160774}, + {6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017, 0.00894059238779664, + -0.000436952529644, 0.000138070523903458, 9.22759645920339e-05, -9.4312261303588e-06, + -1.76647897892869e-05}, + {-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327, + 0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969, + -0.000436055839773919, -9.5869891049503e-05}, + {-4.9880829382985, 1.33627775121504, -0.330382157073243, 0.00306744056311184, + 0.00376353074674973, -0.0107453978169225, -0.00010680477021693, 5.17225535432745e-05, + 7.4423443938376e-05, -0.000107927900087035}, + {0.952867982900728, 1.14513280899596, 0.307744203675505, 0.000404669974219378, + -0.000737988606997615, 0.00120218232577844, 0.000191147653645603, -0.000275058867995882, + 0.000137187356620739, -0.000320202731145004}, + {8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295, + -0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05, + 7.80079707003333e-05, -8.95904360920744e-05}, + {-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278, 0.130143669167547, + 0.0284326533865768, 0.00149831261351137, -0.0011583692969717, 0.0010560778729661, + 0.000635404380970666}, + {3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041, + -0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05, + -3.54608413548779e-05, 8.54042677832451e-06}, + {78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499, 0.146629920899062, + 0.110698519952472, 6.64041537651749e-05, -0.00120174584530713, -0.00133177694921411, + -0.000796422644338886}}; + susHandlingParameters.sus3coeffBeta = { + {-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957, -0.11257100034746, + 0.102120576206517, -0.000796645106694696, -0.00192211266325167, -4.99981232866237e-05, + 0.00104036677004523}, + {-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119, + 0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05, + -6.54571602919161e-05, -0.000104146832644606}, + {24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466, -0.0526971951753399, + -0.0477053831942802, 0.000613806533422364, -0.000631628059238499, 0.00026217621127941, + 0.000555307997961608}, + {0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142, + -0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05, + -7.1643235604579e-06, 0.000147876621100347}, + {-3.05400297018165, -0.316256447664344, 1.14841722699638, 0.000671621084688467, + -0.000906765726598906, 0.000687041032077189, 0.000323419818039841, 0.000128019308781935, + 0.000286018723737538, 0.000192248693306256}, + {-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05, + 0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06, + -0.00014623717850039, 8.12219846932013e-06}, + {110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034, -0.142611297893517, + -0.0141810186612052, -0.00275127095595919, 0.00160686698368569, -0.000872029428758877, + -0.000410522437887563}, + {-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852, + 0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05, + -5.87922606348196e-05, 2.56146268588382e-05}, + {44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562, 0.108087933176612, + -0.116711715153385, -0.00194260120960441, -0.0015752762498594, -0.000331129410732722, + 0.00125896996438418}}; + susHandlingParameters.sus4coeffAlpha = { + {-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283, + -0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497, + -9.79031907635314e-05, -1.49299384451257e-05}, + {8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676, 0.00879426079919981, + -0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05, -3.56478452552367e-05, + -1.65680920554434e-05}, + {16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303, 0.0183175817756131, + -0.008545409848878, 0.000422696533006382, -0.000268245978898508, -0.000663188021815416, + -7.51144017137827e-05}, + {0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128, + 0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05, + 5.03074365340535e-05, 8.40279146176271e-05}, + {2.37491588500165, 1.05997969088519, 0.309540461340971, -0.000405047711742513, + 0.000462224730316111, -0.00201887171945793, 0.000260159805167265, -0.000282867209803598, + 0.000201613303652666, -0.000277796442847579}, + {6.36749007598708, 1.31659760017973, -0.122724934153231, -0.00328808937096891, + -0.00577347207798776, 0.00403172074457999, -7.45676459772001e-05, 1.79838644222274e-05, + 0.000104552066440564, -2.78115121929346e-05}, + {-47.9667098848496, 3.97703197139796, -1.96403894754299, -0.0577989657406978, + 0.0634225576208007, -0.0346023445055141, 0.00045886475369098, -0.000326132951996844, + 0.000716490441845967, -0.000136132038635483}, + {6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045, + -0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187, + -3.3503088289589e-05, -1.03874407813931e-05}, + {102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996, 0.216574192561683, + 0.0750031215784663, -0.000147358932612646, -0.0023710703422108, -0.00143310719642393, + -0.000431914403446768}}; + susHandlingParameters.sus4coeffBeta = { + {-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659, + -0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431, + -0.00030514398458781, -0.000211986731019738}, + {9.07644247897601, 0.207457289788099, 1.26735366597312, 0.00768477352180427, + 0.00429230749575816, -0.00514802326062087, 7.56149591998578e-05, 8.42794730840662e-05, + -3.62215715492783e-05, -5.24384190165239e-05}, + {-33.5225408043693, -3.11167857248829, 1.91760591695775, -0.0963752386435729, + 0.00026620241534153, -0.0256680391021823, -0.00102188712837393, 2.63753563968978e-05, + 0.000113172463974702, 0.000271939918507175}, + {19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458, + -0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05, + -1.22808643520768e-05, 0.000440555709696048}, + {2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271, 0.00148059212230411, + 0.000557885068990542, 0.000288633931072557, 0.000172775380291659, 0.000269738457990237, + 0.000254577019084984}, + {2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743, + 0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05, + -0.000156735218010879, 3.81458400945988e-05}, + {27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388, -0.0341141456915131, + 0.0281959785297513, -0.000252996164135396, 0.000163365679366542, -0.000380129463154642, + 0.000159350154429114}, + {-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817, + -0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05, + -6.07188867796123e-05, 7.72199861279611e-06}, + {-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647, + -0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745, + 0.000698140692952438, 0.00123017528239406}}; + susHandlingParameters.sus5coeffAlpha = { + {-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049, -0.0309683799946315, + -0.0562201123081437, 0.000522607299552916, -0.000375386573815007, -0.000183899715035788, + -0.000600349486293698}, + {4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035, 0.0108410181586673, + -0.000272215427359511, 0.000124164068046579, 0.000125586897851351, -1.24082224214974e-05, + -1.63339067540159e-05}, + {63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374, -0.0652454854214506, + -0.03906716801285, 0.00166924078925478, -0.000749939315526625, 0.000320696101132374, + 0.000499934751180042}, + {-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845, + 0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05, + 8.6123353128647e-05, 2.85447259858337e-05}, + {0.164792977301912, 1.17541977248641, 0.348838798760518, -0.000180865118417534, + 0.000331789515553421, -0.000734333865631793, 9.76677859410759e-05, -0.000324347075049525, + 8.66683396011167e-05, -0.000385839566009832}, + {-0.228934187493575, 1.30552820143752, 0.306779576899158, -0.00508763741184706, + -0.00318524263093038, -0.00878095392529144, -6.59040013073836e-05, 8.69122529321691e-05, + 5.73853071731283e-05, 8.56628414466758e-05}, + {22.6047744510684, -0.591739857860868, 0.566728856847393, 0.0498124268150265, + -0.0214126910277926, 0.00538091942017912, -0.000391517685229849, 0.000554321668236216, + 0.000191004410219065, 0.000102775124022018}, + {4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749, + -0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06, + -2.78503202185463e-05, 3.99983788680736e-06}, + {-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189, -0.0514805639475938, + 0.0503660452068572, 0.00072776817295273, 0.00120288537038655, -0.000301602375634166, + -0.000477098479809266}}; + susHandlingParameters.sus5coeffBeta = { + {16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669, 0.0426379914736747, + 0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05, 0.000645497238623369, + -0.000234155227840799}, + {9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363, 0.00581086655972212, + -0.00365006277801141, 0.000180048140973223, 0.000102002650672644, -4.10833110241736e-05, + -8.7810396165556e-05}, + {-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292, 0.0288441527062856, + -0.00322823115861497, -0.00148509910480755, 0.000284265179004289, -0.000175299737313045, + -7.04175618676909e-05}, + {3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265, + -0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05, + -8.33769024439277e-05, 6.90991113575066e-05}, + {0.820199776906695, -0.355683467192776, 1.17142130858009, -0.000160174871610729, + 4.09723480153701e-05, 0.000209103751629257, 0.000390331989170637, 6.45642836249667e-05, + 0.000318092703362044, 0.000107158633760141}, + {5.52084497768914, -0.227775345312466, 0.845897282556327, 0.00157426476122436, + 0.00657189797805861, 0.0103797665963117, 2.51479848048895e-05, -4.78371400399983e-05, + -5.20221896473413e-05, -0.000143840492906166}, + {-33.4875689683454, 0.937557276329106, -1.02741065470967, -0.0140023273976314, + 0.0401908729477037, -0.0512457211360142, 7.05537967426573e-05, -0.00027521752411122, + 0.000407657552700476, -0.000458411000693613}, + {0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805, + -0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05, + -7.89362487264572e-05, -1.0951496495443e-05}, + {-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539, -0.0542697403292778, + 0.0285360568428252, 0.000845084580479371, 0.00114184315411245, -0.000169538153750085, + -0.000336529204350355}}; + susHandlingParameters.sus6coeffAlpha = { + {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293, + 0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146, + 0.00091428505258307, 0.000259857066722932}, + {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859, 0.00724950517167516, + -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05, -1.06065583714065e-05, + -1.43899892666699e-05}, + {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577, 0.0617635595955198, + 0.0447491072679598, 0.00069998577106559, 0.00101018723225412, -4.88501228194031e-06, + -0.000434861113274231}, + {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253, + 0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05, + 6.09619017310129e-05, 4.23908862836885e-05}, + {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607, + 0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257, + 0.000150795563555828, -0.000279246491927943}, + {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557, + -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05, + 9.13233708460098e-05, -0.000206717750924323}, + {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216, -0.0219752092833362, + 0.0236916776412211, -0.000350496453661261, -0.000123849795280597, -0.000532190902882765, + 9.36018171121253e-05}, + {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645, + -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05, + 1.02609175615251e-05, -9.64717658954667e-06}, + {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358, -0.054845749101257, + -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05, 0.000868163357631254, + 0.00120099606910313}}; + susHandlingParameters.sus6coeffBeta = { + {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917, 0.0444944768824276, + 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05, 0.000821479971871302, + -4.5330528329465e-05}, + {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823, + 0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05, + -4.04514487800062e-05, -7.6296149087237e-05}, + {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941, + -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412, + 0.0011723869613426, 0.000122882034141316}, + {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172, + -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05, + -5.87601932564404e-05, -3.92033314627704e-05}, + {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898, + 0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264, + 0.000259925974231328, 0.000222437797823852}, + {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167, + 0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05, + -4.33518182614169e-05, 4.66993119419691e-05}, + {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108, 0.0281230551050938, + -0.0217328869907185, 0.000241309440918385, -0.000116449585258429, 0.000401546410974577, + -0.000147563886502726}, + {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231, + 0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05, + -5.3309466243918e-05, 6.20289310356821e-06}, + {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785, 0.0581479035315726, + -0.111361283351269, -0.00047845777495158, -0.00075354297736741, -0.000186887396585446, + 0.00119710704771344}}; 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+ susHandlingParameters.sus9coeffAlpha = { + {65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703, 0.119985456538482, + 0.142746712551924, -0.000465882328687976, 0.000606525132125852, 0.00141667074621881, + 0.00109715845894006}, + {5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426, 0.00973291465247784, + -0.00155675297510773, 0.000147099297988423, 0.000115708967219349, -4.1462310493722e-05, + -9.80097031103588e-06}, + {138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519, -0.143071750033303, + 0.237868300719915, 0.000626693630444932, -0.000579788170871402, 0.00181740650944343, + -0.00207086879728281}, + {-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038, + 0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05, + 6.3416992450033e-05, -0.000190177262510221}, + {0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05, + 0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716, + 7.71348293209208e-05, -0.000393885990364776}, + {4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428, 0.0030051503726095, + 0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05, -4.43545804544095e-05, + -4.83524454851519e-05}, + {99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933, -0.15701634159692, + 0.107834711298836, -0.000885326636237814, 0.000960753844480462, -0.00179894024848343, + 0.000583066757644971}, + {2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662, + -0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05, + -4.15108111710131e-06, 1.33520085213482e-05}, + {36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879, 0.060573568610239, + 0.0182582125221054, -0.000244373383911157, -0.000271385147292484, -0.000723799969427732, + 6.76324880239196e-05}}; + susHandlingParameters.sus9coeffBeta = { + {128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636, + 0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017, + 0.000556768406475719}, + {-7.07933839681024, -0.979062424441878, 1.21792546815617, -0.0295740143783226, + -0.00442780611714201, -0.00329612819203176, -0.000291373125216143, -7.47259350176359e-05, + -4.87265282482212e-05, -7.87490350444332e-05}, + {41.1357193180502, 2.75138456414254, -0.0160889117718198, 0.0274001112562423, + -0.145644717742057, -0.0316076203283094, -0.000136443337244472, -0.00153945199081365, + 0.000938960439977633, 0.000599987111822885}, + {2.7980384746608, -0.234741037383589, 1.5342193016705, -0.000993791566721689, + -0.00787533639513478, 0.00927468655141365, 2.63308697896639e-05, -3.42816267184975e-05, + -8.48879419798771e-05, 3.84043821333798e-05}, + {0.427687530667804, -0.346076633694936, 1.22968527483851, -4.95098138311122e-05, + 0.000298245372198029, 0.000332756250024796, 0.00040375986210644, 5.20675972504572e-05, + 0.000327042170278218, 5.93011568264671e-05}, + {4.50337810133314, -0.279364254817202, 0.945812187846199, 0.000116182663432306, + 0.0115646046622083, 0.00908289960302886, 1.90394667311541e-05, -4.4360223646434e-06, + -0.000131398914898614, -0.000145568992865512}, + {-36.3377213654193, 2.21047221783626, 0.0609982245149821, -0.0670546774988572, + 0.016827777144747, -0.0277834084058314, 0.000778301409125556, 0.000135846745194401, + 0.00043261858797068, -0.00021172728254561}, + {-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792, + 0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05, + -0.000107500091550635, -5.1379722947632e-07}, + {-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584, -0.0625549615377418, + 0.019178365782485, 0.000664877496455304, 0.000942971403881222, 0.000190754698755098, + -0.000372226659190439}}; + susHandlingParameters.sus10coeffAlpha = { + {14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299, + 0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965, + -0.000279407497782961, 0.000726904943739837}, + {-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316, + 0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05, + -3.13338277344246e-05, 5.32977236959767e-06}, + {30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413, -0.0553588742704929, + 0.0299275582316466, 0.000167915322354466, -0.00050925078118232, 0.000463662961330962, + -0.000232919143454163}, + {2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675, + 0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05, + 6.4669137025142e-05, 0.000209727581169138}, + {-0.784841314851562, 1.10058314980836, 0.314063830836532, 0.000583003703415889, + 0.000312635453606579, -0.000183738114552387, 0.000214096205760617, -0.000286744686021244, + 0.000159157597180407, -0.00032235099420715}, + {7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199, + -0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05, + 8.85844309936609e-05, -0.000143217870916994}, + {-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416, 0.0385056413989437, + -0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05, 0.000514049116643205, + 0.000112015427600697}, + {-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885, + -0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05, + -7.55982776243849e-06, 2.78417756661088e-06}, + {-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327, -0.0193152048730234, + -0.0600902798379509, 0.00031786916010672, 0.000162178988605602, 0.000224550786416246, + 0.000614337977361927}}; + susHandlingParameters.sus10coeffBeta = { + {12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043, 0.0220810531548995, + -0.0220926906772, 0.000310052324529521, 0.000658151808869523, -0.000288026365111098, + -0.000214619731807045}, + {-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075, + 0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05, + -5.4550919751855e-05, -8.6314530565085e-05}, + {-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321, 0.090326735447661, + -0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509, -0.000956171370931993, + 0.000491554402311223}, + {-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089, + -0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05, + -4.85061736834262e-05, -1.8387092782907e-06}, + {-0.250205907903409, -0.315819331560782, 1.09018364376391, -0.000521787614293089, + -0.000500747760913489, 2.48184307342838e-05, 0.000313799238640988, 0.000136669146368744, + 0.000278914324565192, 0.000218512838469476}, + {-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669, + 0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06, + -5.41141037812903e-05, 8.50767021818388e-06}, + {58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612, -0.112195722921667, + 0.0890150265857542, -0.000100675657768708, 0.000493488022135339, -0.00137672908303878, + 0.000518683157694955}, + {3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344, + 0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05, + -6.07871064300252e-05, 1.91822310311955e-05}, + {-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427, + -0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439, + 0.000551249824375055, 0.00062236627391337}}; + susHandlingParameters.sus11coeffAlpha = { + {-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707, + -0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528, + 0.000166230212359982, 0.00103455037278067}, + {-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314, + 0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439, + 1.89380065823205e-05, 1.83481122973969e-07}, + {-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062, 0.227153492753605, + 0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792, -0.00247865821192621, + -0.00166333309739387}, + {-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732, + 0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05, + 0.000127251739461239, 3.26943341606363e-05}, + {-2.20391533717674, 1.32902400478083, 0.38633027011889, 0.00104660852197061, + 0.00105228824412283, -0.00242067551428214, -6.98346290136652e-05, -0.000369075232184835, + -1.59510520000704e-05, -0.000448565104826966}, + {-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109, + -0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05, + 0.000146570207542509, 0.000201596912834554}, + {-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635, 0.047897938410221, + -0.0355687158405231, 0.000374738707508583, -0.000448453494537518, 0.000377784972619365, + -0.000276573228333836}, + {-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855, + -0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05, + 7.75581514100296e-05, -9.25934285039627e-06}, + {183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303, 0.314006821405967, + 0.200264755034566, -0.0011895153717447, -0.00253812476819896, -0.00291324393641628, + -0.00140062522117514}}; + susHandlingParameters.sus11coeffBeta = { + {34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433, 0.0562461093661426, + 0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05, 0.00102633196865105, + 0.000552974013759876}, + {7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871, 0.00163731860604376, + -0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05, -4.27874746147066e-05, + -8.77418673597557e-05}, + {130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681, -0.188837138116058, + 0.346177462085361, -0.000183276946352264, -0.000702183496893294, 0.00293145272693857, + -0.00318194442670715}, + {-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05, + -0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06, + -0.000156596507890443, -0.000123254220377897}, + {3.67569209537767, -0.387260959713287, 1.31343215605952, -0.00206444615206506, + 0.00145334813110285, -0.00151259497696238, 0.000449492568365603, 6.95883968949488e-07, + 0.000368585523744765, -6.3420715525635e-05}, + {14.3296323024886, -0.182979476956897, 0.306817119309235, -0.00022212115978293, + 0.00463485302909649, 0.0277574953550035, 1.1422454625565e-05, 1.06053257479502e-05, + -2.05720000720608e-05, -0.000338584671430337}, + {-18.7534921817754, 1.14272710923224, 0.460498062012866, -0.00995826989278202, + 0.0658502318647112, 0.00616942819937029, -7.70857153768402e-05, -0.000641755741925561, + 0.00047849204592989, 0.000158509018296766}, + {1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305, + -0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05, + -6.74778593434431e-05, -2.81973589469059e-05}, + {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136, 0.167666815691513, + 0.163137400730063, -0.000609874123906977, -0.00205336098697513, -0.000889232196185857, + -0.00168429567131815}}; + + rwHandlingParameters.inertiaWheel = 0.000028198; rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm] diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index 6e8fd1a2..494ddb68 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -51,6 +51,31 @@ public: float sus10orientationMatrix[3][3]; float sus11orientationMatrix[3][3]; + float sus0coeffAlpha[9][10]; // FM07 + float sus0coeffBeta[9][10]; + float sus1coeffAlpha[9][10]; // FM06 + float sus1coeffBeta[9][10]; + float sus2coeffAlpha[9][10]; // FM13 + float sus2coeffBeta[9][10]; + float sus3coeffAlpha[9][10]; // FM14 + float sus3coeffBeta[9][10]; + float sus4coeffAlpha[9][10]; // FM05 + float sus4coeffBeta[9][10]; + float sus5coeffAlpha[9][10]; // FM02 + float sus5coeffBeta[9][10]; + float sus6coeffAlpha[9][10]; // FM10 + float sus6coeffBeta[9][10]; + float sus7coeffAlpha[9][10]; // FM01 + float sus7coeffBeta[9][10]; + float sus8coeffAlpha[9][10]; // FM03 + float sus8coeffBeta[9][10]; + float sus9coeffAlpha[9][10]; // FM11 + float sus9coeffBeta[9][10]; + float sus10coeffAlpha[9][10]; // FM09 + float sus10coeffBeta[9][10]; + float sus11coeffAlpha[9][10]; // FM08 + float sus11coeffBeta[9][10]; + float filterAlpha; float sunThresh; } susHandlingParameters;