eive/eive-obsw
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we might need this pointing law stuff ...

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This commit is contained in:
Marius Eggert 2023-02-28 15:00:05 +01:00
parent 737d5ecb53
commit d59daa2485
1 changed files with 2 additions and 0 deletions
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2
mission/controller/AcsController.cpp
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@ -299,6 +299,8 @@ void AcsController::performPointingCtrl() {
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate); guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat, guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle); targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(
&acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), &acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),