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fixed nullspace rwSpd range
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This commit is contained in:
Marius Eggert 2023-06-02 14:22:20 +02:00
parent 487b6bf690
commit c64ea7f7e6
1 changed files with 2 additions and 1 deletions
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3
mission/controller/acs/control/PtgCtrl.cpp
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@ -102,6 +102,8 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
// calculate RPM offset utilizing the nullspace
double rpmOffset[4] = {0, 0, 0, 0};
@ -112,7 +114,6 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// calculate resulting angular momentum
double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, 1e-1, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
rwAngMomentum, 4);