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further fixes and cleanup for desaturation

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This commit is contained in:
Marius Eggert
2023-05-03 09:35:46 +02:00
committed by Robin Mueller
parent 83a373859d
commit 8bb97f5f44
2 changed files with 60 additions and 42 deletions
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10
mission/controller/acs/control/PtgCtrl.h
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@ -26,15 +26,15 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *magFieldB, const bool magFieldBValid, const double *satRate,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *mgtDpDes);
/* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after antistiction
*/