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Merge branch 'eggert/acs' into marquardt/ptgCtrl
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# Conflicts:
#	mission/controller/AcsController.cpp
#	mission/controller/AcsController.h
#	mission/controller/acs/AcsParameters.h
#	mission/controller/acs/ActuatorCmd.h
#	mission/controller/acs/Guidance.cpp
#	mission/controller/acs/Guidance.h
#	mission/controller/acs/MultiplicativeKalmanFilter.cpp
#	mission/controller/acs/OutputValues.h
#	mission/controller/acs/SensorProcessing.cpp
#	mission/controller/acs/SensorProcessing.h
#	mission/controller/acs/control/Detumble.cpp
#	mission/controller/acs/control/Detumble.h
#	mission/controller/acs/control/PtgCtrl.cpp
#	mission/controller/acs/util/MathOperations.h
This commit is contained in:
Marius Eggert
2022-12-13 11:26:23 +01:00
parent 2b445369fd cf1a1185fc
commit d33ae9ede7
322 changed files with 17249 additions and 9124 deletions
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50
mission/controller/acs/Guidance.h
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@ -8,25 +8,26 @@
#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include "AcsParameters.h"
#include "SensorValues.h"
#include "OutputValues.h"
#include <time.h>
#include "../controllerdefinitions/AcsCtrlDefinitions.h"
#include "AcsParameters.h"
#include "SensorValues.h"
class Guidance {
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
// Function to get the target quaternion and refence rotation rate from gps position and position of the ground station
void targetQuatPtgOldVersion(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]);
void targetQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]);
void targetQuatPtgOldVersion(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate for sun pointing after ground station
void sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
@ -42,20 +43,21 @@ public:
// Function to get the target quaternion and refence rotation rate from parameters for inertial pointing
void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and desired
void comparePtg( double targetQuat[4], ACS::OutputValues *outputValues, double refSatRate[3], double quatError[3], double deltaRate[3] );
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid reation wheel
// maybe can be done in "commanding.h"
void getDistributionMatrixRw(ACS::SensorValues* sensorValues, double *rwPseudoInv);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private:
AcsParameters acsParameters;
bool strBlindAvoidFlag = false;
timeval timeSavedQuaternionNadir;
double savedQuaternionNadir[4] = {0, 0, 0, 0};
double omegaRefSavedNadir[3] = {0, 0, 0};
private:
AcsParameters acsParameters;
bool strBlindAvoidFlag = false;
timeval timeSavedQuaternionNadir;
double savedQuaternionNadir[4] = {0, 0, 0, 0};
double omegaRefSavedNadir[3] = {0, 0, 0};
};
#endif /* ACS_GUIDANCE_H_ */