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fixed calculation of rotational rate for ptgCtrl which also is used for idle now
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Marius Eggert
2023-06-02 13:28:59 +02:00
parent f8d9925785
commit bd15d7b0e2
2 changed files with 21 additions and 15 deletions
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29
mission/controller/acs/Guidance.cpp
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@ -266,7 +266,8 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
}
void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
double targetSatRotRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to sun
//-------------------------------------------------------------------------------------
@ -296,9 +297,8 @@ void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double
//----------------------------------------------------------------------------
// Calculation of reference rotation rate
//----------------------------------------------------------------------------
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
}
void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
@ -453,20 +453,25 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua
//-------------------------------------------------------------------------------------
// Calculation of target rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
(timeSavedQuaternion.tv_sec +
timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 -
(timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6);
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
}
if (timeElapsed < timeElapsedMax) {
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
VectorOperations<double>::subtract(q, qS, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double tgtQuatVec[3] = {q[0], q[1], q[2]};
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};