eive/eive-obsw
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This commit is contained in:
Marius Eggert 2023-07-21 14:24:52 +02:00
parent f736489430
commit 7e1e02c2bc
2 changed files with 7 additions and 14 deletions
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18
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -48,8 +48,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelMekf,
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelMekf,
acsParameters->safeModeControllerParameters.k_orthoMekf);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
acsParameters->safeModeControllerParameters.k_alignMekf);
@ -72,8 +71,7 @@ void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const
errorAngle = acos(dotSun);
splitRotationalRate(satRotRateB, sunDirB);
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelGyr,
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
acsParameters->safeModeControllerParameters.k_orthoGyr);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
acsParameters->safeModeControllerParameters.k_alignGyr);
@ -98,8 +96,7 @@ void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallel
std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
calculateRotationalRateTorque(sunDirB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelSusMgm,
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
calculateAngleErrorTorque(sunDirB, sunDirRefB,
acsParameters->safeModeControllerParameters.k_alignSusMgm);
@ -121,8 +118,7 @@ void SafeCtrl::safeRateDampingGyr(const double *magFieldB, const double *satRotR
errorAngle = NAN;
splitRotationalRate(satRotRateB, sunDirRefB);
calculateRotationalRateTorque(sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelGyr,
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
acsParameters->safeModeControllerParameters.k_orthoGyr);
// sum of all torques
@ -142,8 +138,7 @@ void SafeCtrl::safeRateDampingSusMgm(const double *magFieldB, const double *satR
errorAngle = NAN;
splitRotationalRate(satRotRateB, sunDirRefB);
calculateRotationalRateTorque(sunDirRefB, errorAngle,
acsParameters->safeModeControllerParameters.k_parallelSusMgm,
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
// sum of all torques
@ -161,8 +156,7 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
}
void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
const double gainParallel, const double gainOrtho) {
void SafeCtrl::calculateRotationalRateTorque(const double gainParallel, const double gainOrtho) {
// calculate torque for parallel rotational rate
VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);

3
mission/controller/acs/control/SafeCtrl.h
View File

@ -41,8 +41,7 @@ class SafeCtrl {
const double *sunDirB, const double *sunRateB,
double *fusedRotRate);
void calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
const double gainParallel, const double gainOrtho);
void calculateRotationalRateTorque(const double gainParallel, const double gainOrtho);
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign);