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This commit is contained in:
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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14
mission/controller/acs/SensorProcessing.cpp
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@ -574,11 +574,13 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
// Calculation of the satellite velocity in earth fixed frame
double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0};
// RADIANS OR DEGREE ? Function needs rad as input
MathOperations<double>::cartesianFromLatLongAlt(gps0latitude, gps0longitude, gps0altitude, posSatE);
if (validSavedPosSatE && (gps0UnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
double timeDiffGpsMeas = gps0UnixSeconds - timeOfSavedPosSatE;
VectorOperations<double>::mulScalar(deltaDistance, 1/timeDiffGpsMeas, gpsVelocityE, 3);
MathOperations<double>::cartesianFromLatLongAlt(gps0latitude, gps0longitude, gps0altitude,
posSatE);
if (validSavedPosSatE &&
(gps0UnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
double timeDiffGpsMeas = gps0UnixSeconds - timeOfSavedPosSatE;
VectorOperations<double>::mulScalar(deltaDistance, 1 / timeDiffGpsMeas, gpsVelocityE, 3);
}
}
{
@ -600,7 +602,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
validSavedPosSatE = true;
}
else {
validGcLatitude = false;
validGcLatitude = false;
}
}