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final safe mode params
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This commit is contained in:
Marius Eggert 2023-04-13 14:29:24 +02:00
parent 128bd7d41a
commit a09cc86336
2 changed files with 7 additions and 17 deletions
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8
mission/controller/acs/AcsParameters.cpp
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@ -348,15 +348,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir); parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(safeModeControllerParameters.satRateRef);
break;
case 0x9:
parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
break;
case 0xA:
parameterWrapper->set(safeModeControllerParameters.useMekf); parameterWrapper->set(safeModeControllerParameters.useMekf);
break; break;
case 0xB: case 0x9:
parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse); parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
break; break;
default: default:

16
mission/controller/acs/AcsParameters.h
View File

@ -810,21 +810,17 @@ class AcsParameters : public HasParametersIF {
} rwMatrices; } rwMatrices;
struct SafeModeControllerParameters { struct SafeModeControllerParameters {
double k_orthoMekf = 1.0e-1; double k_orthoMekf = 3.25e-2;
double k_alignMekf = 7.0e-5; double k_alignMekf = 4.0e-5;
double k_parallelMekf = 4.0e-4; double k_parallelMekf = 3.75e-4;
double k_orthoNonMekf = 1.0e-1; double k_orthoNonMekf = 3.25e-2;
double k_alignNonMekf = 7.0e-5; double k_alignNonMekf = 4.0e-5;
double k_parallelNonMekf = 4.0e-4; double k_parallelNonMekf = 3.75e-4;
double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)}; double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
double sunTargetDir[3] = {0, 0, 1}; double sunTargetDir[3] = {0, 0, 1};
double satRateRef = 0;
float angleStartSpin = 20 * M_PI / 180;
uint8_t useMekf = true; uint8_t useMekf = true;
uint8_t dampingDuringEclipse = true; uint8_t dampingDuringEclipse = true;
} safeModeControllerParameters; } safeModeControllerParameters;