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rwAntistiction now gets actual RW states
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This commit is contained in:
Marius Eggert 2023-02-17 09:21:55 +01:00
parent 75ade4d8f8
commit 7ee9bf6edf
2 changed files with 10 additions and 5 deletions
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10
mission/controller/acs/control/PtgCtrl.cpp
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@ -161,8 +161,14 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4); VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
} }
void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
double *torqueCommand) { bool rwAvailable[4] = {
(sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
(sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
(sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
(sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) { if (rwAvailable[i]) {
if (torqueMemory[i] != 0) { if (torqueMemory[i] != 0) {

5
mission/controller/acs/control/PtgCtrl.h
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@ -54,11 +54,10 @@ class PtgCtrl {
const int32_t *speedRw3, double *rwTrqNs); const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low /* @brief: Commands the stiction torque in case wheel speed is to low
* @param: rwAvailable Boolean Flag for all reaction wheels * @param: sensorValues class containing all RW related values
* omegaRw current wheel speed of reaction wheels
* torqueCommand modified torque after antistiction * torqueCommand modified torque after antistiction
*/ */
void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand); void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
private: private:
AcsParameters::RwHandlingParameters *rwHandlingParameters; AcsParameters::RwHandlingParameters *rwHandlingParameters;