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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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1
mission/controller/acs/AcsParameters.h
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@ -784,6 +784,7 @@ class AcsParameters : public HasParametersIF {
struct RwHandlingParameters {
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
int32_t maxRwSpeed = 65000; // 0.1 RPM
int32_t stictionSpeed = 100; // RPM
int32_t stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006;