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

RW pseudo inverses now set from RW state. multiple invalids trigger event and disable ptgCtrl
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert
2023-02-16 15:40:16 +01:00
parent 4b8f5992b5
commit 97f7f7c973
4 changed files with 31 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
mission/controller/AcsController.cpp
View File

@@ -263,7 +263,11 @@ void AcsController::performPointingCtrl() {
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
return;
}
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
double mgtDpDes[3] = {0, 0, 0};