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fixed max speed limitation done before calculation to right unit scale

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This commit is contained in:
Marius Eggert 2023-03-13 10:03:40 +01:00
parent eb66d7585c
commit b1fa3fd016
1 changed files with 2 additions and 2 deletions
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4
mission/controller/acs/ActuatorCmd.cpp
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@ -42,14 +42,14 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed;
} else if (rwCmdSpeed[i] < -maxRwSpeed) {
rwCmdSpeed[i] = -maxRwSpeed;
}
}
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
}
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,