eive/eive-obsw
eive/eive-obsw
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small formatting fixes
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This commit is contained in:
Marius Eggert 2022-09-20 11:20:13 +02:00
parent 28dfcbf0ef
commit cc82b8aa42
1 changed files with 53 additions and 40 deletions
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93
mission/controller/acs/AcsParameters.cpp
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@ -8,38 +8,46 @@ AcsParameters::AcsParameters() {
onBoardParams.sampleTime = 0.1;
inertiaEIVE.inertiaMatrix = {{ 1.0, 0.0, 0.0},
{ 0.0, 1.0, 0.0},
{ 0.0, 0.5, 1.0}};
inertiaEIVE.inertiaMatrix = {
{ 1.0, 0.0, 0.0},
{ 0.0, 1.0, 0.0},
{ 0.0, 0.5, 1.0}};
mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
{ 0, 1, 0},
{ 1, 0, 0}};
/*mgmHandlingParameters.mgm1orientationMatrix = {{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm2orientationMatrix = {{ 0, 0,-1},
{ 0, 1, 0},
{ 1 ,0, 0}};
mgmHandlingParameters.mgm3orientationMatrix = {{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm4orientationMatrix = {{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};*/
mgmHandlingParameters.mgm0orientationMatrix = {
{ 0, 0,-1},
{ 0, 1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm1orientationMatrix = {
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm2orientationMatrix = {
{ 0, 0,-1},
{ 0, 1, 0},
{ 1 ,0, 0}};
mgmHandlingParameters.mgm3orientationMatrix = {
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm4orientationMatrix = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
rwHandlingParameters.inertiaWheel = 0.000028198;
rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
//Geometry frame
rwMatrices.alignmentMatrix = {{ 0.9205, 0.0000, -0.9205, 0.0000},
{ 0.0000, -0.9205, 0.0000, 0.9205},
{ 0.3907, 0.3907, 0.3907, 0.3907}};
rwMatrices.alignmentMatrix = {
{ 0.9205, 0.0000, -0.9205, 0.0000},
{ 0.0000, -0.9205, 0.0000, 0.9205},
{ 0.3907, 0.3907, 0.3907, 0.3907}};
rwMatrices.pseudoInverse = {{ 0.4434, -0.2845, 0.3597},
{ 0.2136, -0.3317, 1.0123},
{ -0.8672, -0.1406, 0.1778},
{ 0.6426, 0.4794, 1.3603}};
rwMatrices.pseudoInverse = {
{ 0.4434, -0.2845, 0.3597},
{ 0.2136, -0.3317, 1.0123},
{ -0.8672, -0.1406, 0.1778},
{ 0.6426, 0.4794, 1.3603}};
rwMatrices.nullspace = { -0.7358, 0.5469, -0.3637, -0.1649};
@ -96,21 +104,26 @@ AcsParameters::AcsParameters() {
strParameters.boresightAxis = { 0.7593, 0,-0.6508};
strParameters.exclusionAngle = 20 * Math::PI /180;
magnetorquesParameter.mtq0orientationMatrix = {{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}};
magnetorquesParameter.mtq1orientationMatrix = {{ 1, 0, 0},
{ 0, 1, 0},
{ 0, 0, 1}};
magnetorquesParameter.mtq2orientationMatrix = {{ 0, 0, 1},
{ 0, 1, 0},
{-1, 0, 0}};
magnetorquesParameter.alignmentMatrixMtq = {{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
magnetorquesParameter.inverseAlignment = {{ 0,-1, 0},
{ 0, 0, 1},
{-1, 0, 0}};
magnetorquesParameter.mtq0orientationMatrix = {
{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}};
magnetorquesParameter.mtq1orientationMatrix = {
{ 1, 0, 0},
{ 0, 1, 0},
{ 0, 0, 1}};
magnetorquesParameter.mtq2orientationMatrix = {
{ 0, 0, 1},
{ 0, 1, 0},
{-1, 0, 0}};
magnetorquesParameter.alignmentMatrixMtq = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
magnetorquesParameter.inverseAlignment = {
{ 0,-1, 0},
{ 0, 0, 1},
{-1, 0, 0}};
magnetorquesParameter.DipolMax = 0.2;
}