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RW pseudo inverses now set from RW state. multiple invalids trigger event and disable ptgCtrl
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Marius Eggert
2023-02-16 15:40:16 +01:00
parent 4b8f5992b5
commit 97f7f7c973
4 changed files with 31 additions and 96 deletions
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117
mission/controller/acs/Guidance.cpp
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@ -610,104 +610,33 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
// under 150 arcsec ??
}
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
double *rwPseudoInv) {
bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
}
else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
}
else {
if (rw1valid && rw2valid && rw3valid && rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.pseudoInverse, 12 * sizeof(double));
return returnvalue::OK;
} else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without1, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without2, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without3, 12 * sizeof(double));
return returnvalue::OK;
} else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without4, 12 * sizeof(double));
return returnvalue::OK;
} else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one
// reaction wheel invalid the pointing control is destined to fail.
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
return returnvalue::FAILED;
}
}