eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into smaller_lock_tweaks
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This commit is contained in:
Robin Müller 2023-03-03 15:21:24 +01:00
commit cc3bcdfaeb
1 changed files with 5 additions and 4 deletions
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9
mission/controller/acs/control/SafeCtrl.cpp
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@ -95,11 +95,12 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
}
// change unit from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
double magFieldBT[3] = {0,0,0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// normalize sunDir and magDir
double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3);
VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir
@ -160,8 +161,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
// Magnetic moment
double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));