eive/eive-obsw
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nadir should work again
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This commit is contained in:
Marius Eggert
2023-02-20 16:20:54 +01:00
parent 48b0ee8662
commit 81a4112c45
3 changed files with 12 additions and 14 deletions
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12
mission/controller/AcsController.cpp
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@ -311,11 +311,13 @@ void AcsController::performPointingCtrl() {
break;
case acs::PTG_NADIR:
guidance.targetQuatPtgNadirThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
deltaRate);
guidance.targetQuatPtgNadirThreeAxes(now, gpsDataProcessed.gpsPosition.value,
gpsDataProcessed.gpsVelocity.value, targetQuat,
targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, acsParameters.nadirModeControllerParameters.quatRef,
acsParameters.nadirModeControllerParameters.refRotRate, errorQuat,
errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(