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extended state machine
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This commit is contained in:
Marius Eggert
2023-07-19 13:24:37 +02:00
parent ebedb59929
commit 8451a2f8ef
3 changed files with 72 additions and 26 deletions
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27
mission/controller/acs/control/SafeCtrl.h
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@ -14,23 +14,34 @@ class SafeCtrl {
acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled);
const uint8_t mekfEnabled, const uint8_t gyrEnabled,
const uint8_t dampingEnabled);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, double *magMomB,
double &errorAngle);
void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
const double *sunDirRefB, double *magMomB, double &errorAngle);
void safeGyr(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
const double *sunDirRefB, double *magMomB, double &errorAngle);
void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
double *magMomB, double &errorAngle);
void safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
const double *rotRateOrthogonalB, const double *sunDirB, const double *sunDirRefB,
double *magMomB, double &errorAngle);
void safeRateDampingGyr(const double *magFieldB, const double *satRotRateB,
const double *sunDirRefB, double *magMomB, double &errorAngle);
void safeRateDampingSusMgm(const double *magFieldB, const double *satRotRateB,
const double *sunDirRefB, double *magMomB, double &errorAngle);
void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
double &errorAngle, const double gainParallel,
const double gainOrtho);
void calculateRotationalRates(const double *magFieldB, const double *magRateB,
const double *sunDirB, const double *sunRateB,
double *fusedRotRate);
void calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
const double gainParallel, const double gainOrtho);
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign);