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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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47
mission/controller/acs/control/Detumble.cpp
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@ -6,33 +6,26 @@
* Author: Robin Marquardt
*/
#include "Detumble.h"
#include "../util/MathOperations.h"
#include <math.h>
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
Detumble::Detumble(AcsParameters *acsParameters_){
loadAcsParameters(acsParameters_);
Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
Detumble::~Detumble() {}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
Detumble::~Detumble(){
}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_){
detumbleParameter = &(acsParameters_->detumbleParameter);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
}
ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool *magRateValid,
const double *magField, const bool *magFieldValid,
double *magMom) {
@ -47,18 +40,16 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool *magRateValid,
}
ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom) {
ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
double *magMom) {
if (!magRateValid) {
return DETUMBLE_NO_SENSORDATA;
}
if (!magRateValid) {
return DETUMBLE_NO_SENSORDATA;
}
double dipolMax = magnetorquesParameter->DipolMax;
for (int i = 0; i<3; i++) {
magMom[i] = - dipolMax * sign(magRate[i]);
}
double dipolMax = magnetorquesParameter->DipolMax;
for (int i = 0; i < 3; i++) {
magMom[i] = -dipolMax * sign(magRate[i]);
}
return returnvalue::OK;