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use safeCtrl even if SUS and MGM vectors are too close
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This commit is contained in:
Marius Eggert
2023-08-15 09:11:57 +02:00
parent 8447b3c41e
commit d82a6ece5a
3 changed files with 26 additions and 17 deletions
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29
mission/controller/acs/control/SafeCtrl.cpp
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@ -9,10 +9,12 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const bool fusedRateTotalValid,
const uint8_t mekfEnabled,
const uint8_t gyrEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
@ -20,7 +22,7 @@ acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
} else if (sunDirValid) {
if (gyrEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_GYR;
} else if (not gyrEnabled and fusedRateSplitValid) {
} else if (not gyrEnabled and fusedRateTotalValid) {
return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
@ -95,9 +97,10 @@ void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const
calculateMagneticMoment(magMomB);
}
void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallelB,
const double *rotRateOrthogonalB, const double *sunDirB,
const double *sunDirRefB, double *magMomB, double &errorAngle) {
void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateTotalB,
const double *rotRateParallelB, const double *rotRateOrthogonalB,
const double *sunDirB, const double *sunDirRefB, double *magMomB,
double &errorAngle) {
// convert magFieldB from uT to T
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
@ -105,8 +108,14 @@ void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallel
double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
errorAngle = acos(dotSun);
std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
if (VectorOperations<double>::norm(rotRateParallelB, 3) != 0 and
VectorOperations<double>::norm(rotRateOrthogonalB, 3) != 0) {
std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
} else {
splitRotationalRate(rotRateTotalB, sunDirB);
}
calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
acsParameters->safeModeControllerParameters.k_orthoSusMgm);
calculateAngleErrorTorque(sunDirB, sunDirRefB,