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removed unit quats as they are confusing
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Marius Eggert
2023-04-11 10:55:48 +02:00
parent 18be21a310
commit c66799b24f
4 changed files with 16 additions and 13 deletions
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7
mission/controller/AcsController.h
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@ -40,9 +40,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void performPointingCtrl();
private:
static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
static constexpr double ZERO_VEC[3] = {0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
bool enableHkSets = false;
@ -214,6 +214,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
// Ctrl Values
acsctrl::CtrlValData ctrlValData;
PoolEntry<uint8_t> safeStrat = PoolEntry<uint8_t>();
PoolEntry<double> tgtQuat = PoolEntry<double>(4);
PoolEntry<double> errQuat = PoolEntry<double>(4);
PoolEntry<double> errAng = PoolEntry<double>();