eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

fixed GPS and STR inputs
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert
2022-10-12 15:06:24 +02:00
parent 2a9dc518a0
commit 84fc44fd5f
9 changed files with 434 additions and 438 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
mission/controller/acs/control/PtgCtrl.h
View File

@ -4,8 +4,8 @@
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded torque
* for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
@ -14,46 +14,49 @@
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
#include "../SensorValues.h"
#include "../OutputValues.h"
#include "../AcsParameters.h"
#include "../config/classIds.h"
#include <string.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
class PtgCtrl{
#include "../AcsParameters.h"
#include "../OutputValues.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
class PtgCtrl {
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Load AcsParameters für this class
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void loadAcsParameters(AcsParameters *acsParameters_);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode,const double *qError,const double *deltaRate,const double *rwPseudoInv, double *torqueRws);
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool *magFieldEstValid, double *satRate, double *speedRw0,
double *speedRw1, double *speedRw2, double *speedRw3, double *mgtDpDes);
void ptgDesaturation(double *magFieldEst, bool *magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(const double *speedRw0, const double *speedRw1, const double *speedRw2, const double *speedRw3, double *rwTrqNs);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
private:
AcsParameters::PointingModeControllerParameters* pointingModeControllerParameters;
AcsParameters::RwHandlingParameters* rwHandlingParameters;
AcsParameters::InertiaEIVE* inertiaEIVE;
AcsParameters::RwMatrices* rwMatrices;
private:
AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */