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added protection to not command rwSpeeds larger than the allowed speed range
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Marius Eggert
2023-03-10 11:37:04 +01:00
parent 9a30ae5175
commit cb8a49775d
5 changed files with 18 additions and 7 deletions
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4
mission/controller/AcsController.cpp
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@ -416,7 +416,6 @@ void AcsController::performPointingCtrl() {
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break;
}
if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
}
@ -425,13 +424,14 @@ void AcsController::performPointingCtrl() {
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRwsScaled,
cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
acsParameters.rwHandlingParameters.maxRwSpeed,
acsParameters.rwHandlingParameters.inertiaWheel);
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
updateActuatorCmdData(torqueRwsScaled, cmdSpeedRws, cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],