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Marius Eggert
2022-12-13 11:51:03 +01:00
parent d33ae9ede7
commit b49d37e15a
12 changed files with 577 additions and 575 deletions
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108
mission/controller/acs/AcsParameters.h
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@ -26,22 +26,22 @@ class AcsParameters /*: public HasParametersIF*/ {
} onBoardParams;
struct InertiaEIVE {
double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; //19.11.2021
double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021
// Possible inertia matrices
double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; //19.11.2021
double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
{-0.0001798426, 0.162240, 0.000475596},
{-0.005008, 0.000475596, 0.060136}}; //19.11.2021
double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
{-0.0001836122, 0.16619787, 0.0083537},
{-0.00501207, 0.0083537, 0.07192588}}; //19.11.2021
double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
{-0.000178376, 0.166172, -0.007403},
{-0.005009767, -0.007403, 0.07195314}};
double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
{-0.0001821456, 0.1701302, 0.0004748963},
{-0.0050135, 0.0004748963, 0.08374296}}; // 19.11.2021
double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
{-0.0001798426, 0.162240, 0.000475596},
{-0.005008, 0.000475596, 0.060136}}; // 19.11.2021
double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
{-0.0001836122, 0.16619787, 0.0083537},
{-0.00501207, 0.0083537, 0.07192588}}; // 19.11.2021
double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
{-0.000178376, 0.166172, -0.007403},
{-0.005009767, -0.007403, 0.07195314}};
} inertiaEIVE;
struct MgmHandlingParameters {
@ -786,9 +786,9 @@ class AcsParameters /*: public HasParametersIF*/ {
double rw2orientationMatrix[3][3];
double rw3orientationMatrix[3][3];
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 80; //RPM
double stictionReleaseSpeed = 120; //RPM
double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 80; // RPM
double stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006;
} rwHandlingParameters;
@ -796,31 +796,21 @@ class AcsParameters /*: public HasParametersIF*/ {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
// double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
// {0.2136, -0.3317, 1.0123},
// {-0.8672, -0.1406, 0.1778},
// {0.6426, 0.4794, 1.3603}};
// where does the first pseudo inverse come frome - matlab gives result below
double pseudoInverse[4][3] = {{0.5432, 0, 0.6398},
{0, -0.5432, 0.6398},
{-0.5432, 0, 0.6398},
{0, 0.5432, 0.6398}};
double without0[4][3] = {{0, 0, 0},
{0.5432, -0.5432, 1.2797},
{-1.0864, 0, 0},
{0.5432, 0.5432, 1.2797}};
double without1[4][3] = {{0.5432, -0.5432, 1.2797},
{0, 0, 0},
{-0.5432, -0.5432, 1.2797},
{0, 1.0864, 0}};
double without2[4][3] = {{1.0864, 0, 0},
{-0.5432, -0.5432, 1.2797},
{0, 0, 0},
{-0.5432, 0.5432, 1.2797}};
double without3[4][3] = {{0.5432, 0.5432, 1.2797},
{0, -1.0864, 0},
{-0.5432, 0.5432, 1.2797},
{0, 0, 0}};
// double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
// {0.2136, -0.3317, 1.0123},
// {-0.8672, -0.1406, 0.1778},
// {0.6426, 0.4794, 1.3603}};
// where does the first pseudo inverse come frome - matlab gives result below
double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without0[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without1[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
double without2[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without3[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
} rwMatrices;
@ -828,9 +818,11 @@ class AcsParameters /*: public HasParametersIF*/ {
double k_rate_mekf = 0.00059437;
double k_align_mekf = 0.000056875;
double k_rate_no_mekf = 0.00059437;;
double k_align_no_mekf = 0.000056875;;
double sunMagAngleMin; // ???
double k_rate_no_mekf = 0.00059437;
;
double k_align_no_mekf = 0.000056875;
;
double sunMagAngleMin; // ???
double sunTargetDir[3] = {0, 0, 1};
double satRateRef[3] = {0, 0, 0};
@ -839,7 +831,7 @@ class AcsParameters /*: public HasParametersIF*/ {
// ToDo: mutiple structs for different pointing mode controllers?
struct PointingModeControllerParameters {
double refDirection[3] = {-1, 0, 0}; //Antenna
double refDirection[3] = {-1, 0, 0}; // Antenna
double refRotRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 1};
bool avoidBlindStr = true;
@ -860,11 +852,12 @@ class AcsParameters /*: public HasParametersIF*/ {
double omegaEarth = 0.000072921158553;
double nadirRefDirection[3] = {-1, 0, 0}; //Camera
double nadirRefDirection[3] = {-1, 0, 0}; // Camera
double tgtQuatInertial[4] = {0, 0, 0, 1};
double tgtRotRateInertial[3] = {0, 0, 0};
int8_t nadirTimeElapsedMax = 10;
} pointingModeControllerParameters, inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
} pointingModeControllerParameters, inertialModeControllerParameters,
nadirModeControllerParameters, targetModeControllerParameters;
struct StrParameters {
double exclusionAngle = 20 * M_PI / 180;
@ -872,7 +865,7 @@ class AcsParameters /*: public HasParametersIF*/ {
} strParameters;
struct GpsParameters {
double timeDiffVelocityMax = 30; //[s]
double timeDiffVelocityMax = 30; //[s]
} gpsParameters;
struct GroundStationParameters {
@ -883,10 +876,11 @@ class AcsParameters /*: public HasParametersIF*/ {
struct SunModelParameters {
float domega = 36000.771;
float omega_0 = 280.46 * M_PI / 180.; //282.94 * M_PI / 180.; // RAAN plus argument of perigee
float m_0 = 357.5277; //357.5256; // coefficients for mean anomaly
float dm = 35999.049; // coefficients for mean anomaly
float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
float omega_0 = 280.46 * M_PI / 180.; // 282.94 * M_PI / 180.; // RAAN plus argument of
// perigee
float m_0 = 357.5277; // 357.5256; // coefficients for mean anomaly
float dm = 35999.049; // coefficients for mean anomaly
float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
float e1 = 0.74508 * M_PI / 180.;
float p1 = 6892. / 3600. * M_PI / 180.; // some parameter
@ -899,8 +893,8 @@ class AcsParameters /*: public HasParametersIF*/ {
double sensorNoiseMAG = 4 * M_PI / 180;
double sensorNoiseGYR = 0.1 * M_PI / 180;
double sensorNoiseArwGYR = 3*0.0043*M_PI / sqrt(10) / 180; // Angular Random Walk
double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability
double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180; // Angular Random Walk
double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability
} kalmanFilterParameters;
struct MagnetorquesParameter {
@ -914,7 +908,7 @@ class AcsParameters /*: public HasParametersIF*/ {
} magnetorquesParameter;
struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180;
double gainD = pow(10.0, -3.3);