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Merge branch 'develop' into eggert/acs-scheduling-and-smaller-stuff
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This commit is contained in:
Marius Eggert
2023-02-15 09:23:46 +01:00
parent 11e06f6b21 177b573cd4
commit 9ddcc8dc14
43 changed files with 641 additions and 263 deletions
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6
mission/controller/acs/AcsParameters.cpp
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@ -278,6 +278,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x4:
parameterWrapper->set(rwHandlingParameters.stictionTorque);
break;
case 0x5:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -584,6 +587,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax);
break;
case 0x6:
parameterWrapper->set(magnetorquesParameter.torqueDuration);
break;
default:
return INVALID_IDENTIFIER_ID;
}

3
mission/controller/acs/AcsParameters.h
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@ -792,6 +792,8 @@ class AcsParameters : public HasParametersIF {
double stictionSpeed = 100; // 80; // RPM
double stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
} rwHandlingParameters;
struct RwMatrices {
@ -910,6 +912,7 @@ class AcsParameters : public HasParametersIF {
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double DipolMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms]
} magnetorquesParameter;
struct DetumbleParameter {

28
mission/controller/acs/ActuatorCmd.cpp
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@ -31,27 +31,33 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
}
}
void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3,
const double *rwTorque, double *rwCmdSpeed) {
void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
double deltaSpeed[4] = {0, 0, 0, 0};
double commandTime = acsParameters.onBoardParams.sampleTime,
inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
for (int i = 0; i < 4; i++) {
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
// Convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentActuator, 3, 3, 1);
dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
@ -62,8 +68,12 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActu
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
dipolMomentActuatorDouble, 3);
}
// scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
for (int i = 0; i < 3; i++) {
dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
}
}

6
mission/controller/acs/ActuatorCmd.h
View File

@ -28,8 +28,8 @@ class ActuatorCmd {
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
@ -37,7 +37,7 @@ class ActuatorCmd {
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentActuator resulting dipol moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
protected:
private: