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first implementation of new laws
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Marius Eggert
2023-04-05 16:11:28 +02:00
parent 7a7d0e650f
commit ce7da9f513
3 changed files with 101 additions and 91 deletions
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27
mission/controller/acs/control/SafeCtrl.h
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@ -27,18 +27,37 @@ class SafeCtrl {
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, const double *satRotRateRefB,
double *magMomB, double &errorAngle);
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
const double *sunDirRefB, const double *satRotRateRefB, double *magMomB,
double &errorAngle);
const double *sunDirRefB, const double *satRotRateRefB,
const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
void safeRateDamping(const double *magFieldB, const double *satRotRateB,
const double *satRotRateRefB, double *magMomB, double &errorAngle);
const double *satRotRateRefB, const double *sunDirRefB, double *magMomB,
double &errorAngle);
void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
void calculateRotationalRateTorque(const double *satRotRateRefB, const double *sunDirB,
const double *sunDirRefB, double &errorAngle,
const double gainParallel, const double gainOrtho);
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
const double gainAlign, const double inertiaMatrix[3][3]);
void calculateMagneticMoment(double *magMomB);
protected:
private:
AcsParameters *acsParameters;
double magFieldBT[3] = {0, 0, 0};
double satRotRateParallelB[3] = {0, 0, 0};
double satRotRateOrthogonalB[3] = {0, 0, 0};
double cmdParallel[3] = {0, 0, 0};
double cmdOrtho[3] = {0, 0, 0};
double cmdAlign[3] = {0, 0, 0};
double cmdTorque[3] = {0, 0, 0};
};
#endif /* ACS_CONTROL_SAFECTRL_H_ */