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fill collection sets before executing acsctrl and actually use tgtRotRate in ctrlValData
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Marius Eggert
2023-02-24 15:34:51 +01:00
parent e349bb8a7f
commit d671de7efb
3 changed files with 30 additions and 22 deletions
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mission/controller/AcsController.h
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@ -41,6 +41,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
private:
static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
static constexpr double ZERO_VEC[3] = {0, 0, 0};
static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
@ -102,7 +103,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
const int16_t* mtqTargetDipole);
void updateCtrlValData(double errAng);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
const double* tgtRotRate);
void disableCtrlValData();
/* ACS Sensor Values */