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added AcsParameters
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Marius Eggert
2022-09-16 14:13:41 +02:00
parent dac799bb97
commit d9427c6112
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mission/controller/acs/AcsParameters.cpp Normal file
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#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include "AcsParameters.h"
#include <stddef.h>
#include <cmath>
AcsParameters::AcsParameters() {
onBoardParams.sampleTime = 0.1;
inertiaEIVE.inertiaMatrix = {{ 1, 0, 0},
{ 0, 1, 0},
{ 0,0.5, 1}};
mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
{ 0, 1, 0},
{ 1, 0, 0}};
/*mgmHandlingParameters.mgm1orientationMatrix = {{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm2orientationMatrix = {{ 0, 0,-1},
{ 0, 1, 0},
{ 1 ,0, 0}};
mgmHandlingParameters.mgm3orientationMatrix = {{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm4orientationMatrix = {{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};*/
rwHandlingParameters.inertiaWheel = 0.000028198;
rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
//Geometry frame
rwMatrices.alignmentMatrix = {{ 0.9205, 0,-0.9205, 0},
{ 0,-0.9205, 0, 0.9205},
{ 0.3907, 0.3907, 0.3907, 0.3907}};
rwMatrices.pseudoInverse = {{ 0.4434,-0.2845, 0.3597},
{ 0.2136,-0.3317, 1.0123},
{-0.8672,-0.1406, 0.1778},
{ 0.6426, 0.4794, 1.3603}};
rwMatrices.nullspace = {-0.7358, 0.5469,-0.3637,-0.1649};
kalmanFilterParameters.sensorNoiseSS = 8 * Math::PI / 180;
kalmanFilterParameters.sensorNoiseMAG = 4 * Math::PI / 180;
kalmanFilterParameters.sensorNoiseSTR = 0.1 * Math::PI / 180;
sunModelParameters.domega = 36000.771;
sunModelParameters.omega_0 = 282.94 * Math::PI / 180.;
sunModelParameters.dm = 35999.049;
sunModelParameters.m_0 = 357.5256;
sunModelParameters.e = 23.4392911 * Math::PI / 180.;
sunModelParameters.e = 0.74508 * Math::PI / 180.;
sunModelParameters.p1 = 6892. / 3600. * Math::PI / 180.;
sunModelParameters.p2 = 72. / 3600. * Math::PI / 180.;
safeModeControllerParameters.k_rate_mekf = 0.00059437;
safeModeControllerParameters.k_align_mekf = 0.000056875;
safeModeControllerParameters.sunTargetDir = {1,0,0};
detumbleCtrlParameters.gainD = pow(10.0,-3.3);
// Stuttgart
groundStationParameters.latitudeGs = 48.7495 * Math::PI / 180.;
groundStationParameters.longitudeGs = 9.10384 * Math::PI / 180.;
groundStationParameters.altitudeGs = 500;
groundStationParameters.earthRadiusEquat = 6378137;
groundStationParameters.earthRadiusPolar = 6356752.314;
// Geometry frame
targetModeControllerParameters.refDirection = {1,0,0};
targetModeControllerParameters.refRotRate = {0,0,0};
targetModeControllerParameters.quatRef = {0,0,0,1};
targetModeControllerParameters.avoidBlindStr = true;
targetModeControllerParameters.blindAvoidStart = 1.5;
targetModeControllerParameters.blindAvoidStop = 2.5;
targetModeControllerParameters.blindRotRate = 1 * Math::PI /180;
targetModeControllerParameters.zeta = 0.3;
targetModeControllerParameters.om = 0.3;
targetModeControllerParameters.qiMin = 0.1;
targetModeControllerParameters.omMax = 1 * Math::PI / 180;
targetModeControllerParameters.gainNullspace = 0.01;
targetModeControllerParameters.desatMomentumRef = {0,0,0};
targetModeControllerParameters.deSatGainFactor = 1000;
targetModeControllerParameters.desatOn = true;
targetModeControllerParameters.omegaEarth = 0.000072921158553;
strParameters.boresightAxis = { 0.7593, 0,-0.6508};
strParameters.exclusionAngle = 20 * Math::PI /180;
magnetorquesParameter.mtq0orientationMatrix = {{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}};
magnetorquesParameter.mtq1orientationMatrix = {{ 1, 0, 0},
{ 0, 1, 0},
{ 0, 0, 1}};
magnetorquesParameter.mtq2orientationMatrix = {{ 0, 0, 1},
{ 0, 1, 0},
{-1, 0, 0}};
magnetorquesParameter.alignmentMatrixMtq = {{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
magnetorquesParameter.inverseAlignment = {{ 0,-1, 0},
{ 0, 0, 1},
{-1, 0, 0}};
magnetorquesParameter.DipolMax = 0.2;
}
AcsParameters::~AcsParameters() {
}
/*
ReturnValue_t AcsParameters::getParameter(uint8_t domainId,
uint16_t parameterId, ParameterWrapper* parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) {
return 0;
}*/