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added protection to not command rwSpeeds larger than the allowed speed range
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This commit is contained in:
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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9
mission/controller/acs/ActuatorCmd.cpp
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@ -30,7 +30,7 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled, dou
void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
double sampleTime, double inertiaWheel) {
double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
@ -45,6 +45,13 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed;
} else if (rwCmdSpeed[i] < -maxRwSpeed) {
rwCmdSpeed[i] = -maxRwSpeed;
}
}
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
}