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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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2
mission/controller/acs/ActuatorCmd.h
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@ -29,7 +29,7 @@ class ActuatorCmd {
*/
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
double inertiaWheel);
int32_t maxRwSpeed, double inertiaWheel);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques