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Robin Marquardt 2023-01-23 16:34:52 +01:00
parent 44b384cd17
commit adef468c0b
6 changed files with 714 additions and 683 deletions
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1270
mission/controller/AcsController.cpp
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File diff suppressed because it is too large Load Diff

59
mission/controller/acs/AcsParameters.h
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@ -816,49 +816,48 @@ class AcsParameters : public HasParametersIF {
} safeModeControllerParameters; } safeModeControllerParameters;
struct PointingLawParameters { struct PointingLawParameters {
double zeta = 0.3;
double om = 0.3;
double omMax = 1 * M_PI / 180;
double qiMin = 0.1;
double gainNullspace = 0.01;
double zeta = 0.3; double desatMomentumRef[3] = {0, 0, 0};
double om = 0.3; double deSatGainFactor = 1000;
double omMax = 1 * M_PI / 180; uint8_t desatOn = true;
double qiMin = 0.1; uint8_t enableAntiStiction = true;
double gainNullspace = 0.01;
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
uint8_t desatOn = true;
uint8_t enableAntiStiction = true;
} pointingLawParameters; } pointingLawParameters;
struct TargetModeControllerParameters : PointingLawParameters { struct TargetModeControllerParameters : PointingLawParameters {
double refDirection[3] = {-1, 0, 0}; // Antenna double refDirection[3] = {-1, 0, 0}; // Antenna
double refRotRate[3] = {0, 0, 0}; // Not used atm, do we want an option to double refRotRate[3] = {0, 0, 0}; // Not used atm, do we want an option to
// give this as an input- currently en calculation is done // give this as an input- currently en calculation is done
double quatRef[4] = {0, 0, 0, 1}; double quatRef[4] = {0, 0, 0, 1};
int8_t timeElapsedMax = 10; // rot rate calculations int8_t timeElapsedMax = 10; // rot rate calculations
// Default is Stuttgart GS // Default is Stuttgart GS
double latitudeTgt = 48.7495 * M_PI / 180.; // [rad] Latitude double latitudeTgt = 48.7495 * M_PI / 180.; // [rad] Latitude
double longitudeTgt = 9.10384 * M_PI / 180.; // [rad] Longitude double longitudeTgt = 9.10384 * M_PI / 180.; // [rad] Longitude
double altitudeTgt = 500; // [m] double altitudeTgt = 500; // [m]
// For one-axis control: // For one-axis control:
uint8_t avoidBlindStr = true; uint8_t avoidBlindStr = true;
double blindAvoidStart = 1.5; double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5; double blindAvoidStop = 2.5;
double blindRotRate = 1 * M_PI / 180; double blindRotRate = 1 * M_PI / 180;
} targetModeControllerParameters; } targetModeControllerParameters;
struct NadirModeControllerParameters : PointingLawParameters { struct NadirModeControllerParameters : PointingLawParameters {
double refDirection[3] = {-1, 0, 0}; // Antenna double refDirection[3] = {-1, 0, 0}; // Antenna
double quatRef[4] = {0, 0, 0, 1}; double quatRef[4] = {0, 0, 0, 1};
int8_t timeElapsedMax = 10; // rot rate calculations int8_t timeElapsedMax = 10; // rot rate calculations
} nadirModeControllerParameters; } nadirModeControllerParameters;
struct InertialModeControllerParameters : PointingLawParameters { struct InertialModeControllerParameters : PointingLawParameters {
double tgtQuat[4] = {0, 0, 0, 1}; double tgtQuat[4] = {0, 0, 0, 1};
double refRotRate[3] = {0, 0, 0}; double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1}; double quatRef[4] = {0, 0, 0, 1};
} inertialModeControllerParameters; } inertialModeControllerParameters;
struct StrParameters { struct StrParameters {

31
mission/controller/acs/Guidance.cpp
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@ -42,7 +42,8 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
double targetCart[3] = {0, 0, 0}; double targetCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt( MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt, acsParameters.targetModeControllerParameters.longitudeTgt, acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, targetCart); acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
// Position of the satellite in the earth/fixed frame via GPS // Position of the satellite in the earth/fixed frame via GPS
@ -172,14 +173,14 @@ void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl:
} }
} }
void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], double *refSatRate) { void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *refSatRate) {
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
// Calculation of reference rotation rate // Calculation of reference rotation rate
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
double timeElapsed = double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
now.tv_sec + now.tv_usec * pow(10, -6) - (timeSavedQuaternion.tv_sec +
(timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
if (timeElapsed < timeElapsedMax) { if (timeElapsed < timeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0}; double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4); VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
@ -226,7 +227,8 @@ void Guidance::targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
double targetCart[3] = {0, 0, 0}; double targetCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt( MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt, acsParameters.targetModeControllerParameters.longitudeTgt, acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, targetCart); acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
// Position of the satellite in the earth/fixed frame via GPS // Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0}; double posSatE[3] = {0, 0, 0};
@ -307,7 +309,8 @@ void Guidance::targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfDat
double groundStationCart[3] = {0, 0, 0}; double groundStationCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt( MathOperations<double>::cartesianFromLatLongAlt(
acsParameters.targetModeControllerParameters.latitudeTgt, acsParameters.targetModeControllerParameters.longitudeTgt, acsParameters.targetModeControllerParameters.latitudeTgt,
acsParameters.targetModeControllerParameters.longitudeTgt,
acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart); acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS // Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0}; double posSatE[3] = {0, 0, 0};
@ -588,13 +591,15 @@ void Guidance::quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
} }
void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) { void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat, 4 * sizeof(double)); std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate, 3 * sizeof(double)); 4 * sizeof(double));
std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
3 * sizeof(double));
} }
void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4], double refSatRate[3], void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]) { double refSatRate[3], double quatErrorComplete[4], double quatError[3],
double deltaRate[3]) {
double satRate[3] = {0, 0, 0}; double satRate[3] = {0, 0, 0};
std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double)); std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3); VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);

8
mission/controller/acs/Guidance.h
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@ -58,10 +58,12 @@ class Guidance {
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired // desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4], double refSatRate[3], void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]); double refSatRate[3], double quatErrorComplete[4], double quatError[3],
double deltaRate[3]);
void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], double *refSatRate); void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *refSatRate);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h" // reation wheel maybe can be done in "commanding.h"

15
mission/controller/acs/control/PtgCtrl.cpp
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@ -26,8 +26,9 @@ void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
rwMatrices = &(acsParameters_->rwMatrices); rwMatrices = &(acsParameters_->rwMatrices);
} }
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate, void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *rwPseudoInv, double *torqueRws) { const double *qError, const double *deltaRate, const double *rwPseudoInv,
double *torqueRws) {
//------------------------------------------------------------------------------------------------ //------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix // Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------ //------------------------------------------------------------------------------------------------
@ -106,7 +107,8 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameter
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4); VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
} }
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst, bool magFieldEstValid, double *satRate, void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) { int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) { if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
@ -127,8 +129,8 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters * pointingLaw
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3); VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error // calculating momentum error
double deltaMomentum[3] = {0, 0, 0}; double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract( VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
momentumTotal, pointingLawParameters->desatMomentumRef, deltaMomentum, 3); deltaMomentum, 3);
// resulting magnetic dipole command // resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0}; double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField); VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
@ -137,7 +139,8 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters * pointingLaw
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3); VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
} }
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters * pointingLawParameters, const int32_t *speedRw0, const int32_t *speedRw1, void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) { const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3}; double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0}; double wheelMomentum[4] = {0, 0, 0, 0};

14
mission/controller/acs/control/PtgCtrl.h
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@ -41,14 +41,16 @@ class PtgCtrl {
/* @brief: Calculates the needed torque for the pointing control mechanism /* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/ */
void ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate, void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *rwPseudoInv, double *torqueRws); const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst, void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
bool magFieldEstValid, double *satRate, int32_t *speedRw0, int32_t *speedRw1, double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw2, int32_t *speedRw3, double *mgtDpDes); 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, void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs); const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low /* @brief: Commands the stiction torque in case wheel speed is to low