fixed array assignment after intialization
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@ -4,819 +4,9 @@
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#include <stddef.h>
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#include <cmath>
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AcsParameters::AcsParameters() {
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AcsParameters::AcsParameters() {}
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onBoardParams.sampleTime = 0.1;
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inertiaEIVE.inertiaMatrix = {
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{ 1.0, 0.0, 0.0},
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{ 0.0, 1.0, 0.0},
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{ 0.0, 0.5, 1.0}};
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mgmHandlingParameters.mgm0orientationMatrix = {
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{ 0, 0,-1},
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{ 0, 1, 0},
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{ 1, 0, 0}};
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mgmHandlingParameters.mgm1orientationMatrix = {
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{ 0, 0, 1},
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{ 0,-1, 0},
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{ 1, 0, 0}};
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mgmHandlingParameters.mgm2orientationMatrix = {
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{ 0, 0,-1},
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{ 0, 1, 0},
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{ 1 ,0, 0}};
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mgmHandlingParameters.mgm3orientationMatrix = {
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{ 0, 0, 1},
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{ 0,-1, 0},
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{ 1, 0, 0}};
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mgmHandlingParameters.mgm4orientationMatrix = {
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{ 0, 0,-1},
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{-1, 0, 0},
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{ 0, 1, 0}};
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susHandlingParameters.sus0orientationMatrix = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};
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susHandlingParameters.sus0coeffAlpha = {
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{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707, -0.0163482459492803,
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0.035730152619911, 0.00021725657060767, -0.000181685375645396, -0.000124096561459262,
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0.00040790566176981},
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{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417, 0.010516766426651,
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0.000446101708841615, 0.00020187044149361, 0.000114957457831415, 1.63114413539632e-05,
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-2.0187452317724e-05},
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{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334, 0.053185806861685,
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-0.028164943139695, -0.00021098074590512, 0.000643681643489995, -0.000249094601806692,
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0.000231466668650876},
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{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
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-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
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-9.78534772816957e-06, -4.72083745991256e-05},
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{0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
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-0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
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0.00010150571088124, -0.000367705461590854},
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{3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
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-0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
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6.97244631313601e-05, 2.50519145070895e-05},
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{-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
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-0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
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-1.78466217018177e-05, -0.00058976234038192},
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{1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
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-0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
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-2.73407888222758e-05, 5.45131881032866e-06},
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{43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
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0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
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-0.000889196131314391, -0.000509766491897672}};
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susHandlingParameters.sus0coeffBeta = {
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{1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
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-0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
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-5.52178824394723e-06, 5.73935295303589e-05},
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{3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
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0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
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-7.58501977656551e-05, -8.79809730730992e-05},
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{14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
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0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
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-0.00020861690864945},
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{1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
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-0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
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-6.00508568552101e-05, 0.000101583822589461},
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{-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
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-0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
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0.000316835483508523, 0.000151442890664899},
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{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
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0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
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-9.83662017231755e-05, 1.87078667116619e-05},
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{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016, -0.0481878292619383,
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0.0052773235604729, -0.000428011927975304, 0.000528018208222772, -0.000285438191474895,
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-5.71327627917386e-05},
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{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
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-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
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-9.77555098179959e-05, 2.09624089449761e-05},
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{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461, -0.0355980127727253,
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-0.0213373892796204, 0.00045506092539885, 0.000545065581027688, 0.000141998709314758,
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0.000101051304611037}};
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susHandlingParameters.sus1orientationMatrix = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
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susHandlingParameters.sus1coeffAlpha = {
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{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
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-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
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-0.000178087038629721, 4.09208968678946e-05},
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{2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385, 0.0117765927439368,
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-0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956, -9.10792250542345e-06,
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-2.03870119873411e-05},
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{26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656,
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0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331,
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-0.00063621309529853, -0.00158363678978767},
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{-0.221893380318465, 1.29919955307083, 0.21872487901019, 0.0049448219667127,
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0.00291224091529189, 0.00654651987282984, -9.86842469311185e-05, 8.20057454706638e-05,
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6.42331081725944e-05, 7.11656918299053e-05},
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{1.40178843964621, 1.1733111455249, 0.287485528779234, -0.000793970428759834,
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0.000170529273905818, -0.00268807864923086, 9.09553964483881e-05, -0.000271892733575409,
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8.52016306311741e-05, -0.000291797625433646},
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{0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958,
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-0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05,
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2.84958344955681e-05, 0.000128583400693359},
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{6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284, -0.0158258335207969,
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0.0328249756354635, 0.00027113042931131, -0.000133980867173428, -0.000357964552318811,
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0.000224235061786191},
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{2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401,
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-0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05,
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3.28466749016414e-05, -6.63837547601294e-06},
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{42.615758859473, 2.46617281707273, -5.742515881283, -0.131942799763164, 0.20250702826603,
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0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977,
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-0.00058814458116749}};
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susHandlingParameters.sus1coeffBeta = {
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{-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722, -0.04872758086642,
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-0.0114263851027856, 0.000141061196404012, -0.000675469545483099, -0.000138249928781575,
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-0.000138871036200597},
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{10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535, 0.00151674939001532,
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-0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05, -4.15760162347772e-05,
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-7.60797902457032e-05},
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{-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328, 0.00379001947505376,
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-0.165444163648109, 0.000516545385538741, 1.56053219154647e-05, -5.58651971370719e-05,
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0.00173185063955313},
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{12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331,
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-0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05,
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-5.67352645830913e-05, 0.000232270832022029},
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{4.4338108906594, -0.305276965994378, 1.17293558142526, 0.000152618994429577,
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0.00134432642920902, -0.00104036813342885, 0.000334476082056995, 6.74826804343671e-05,
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0.000275311897725414, 7.58157740577916e-05},
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{3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268,
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0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05,
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-2.61224817848938e-05, 6.00381132540332e-05},
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{29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232, -0.0474780142430845,
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0.0486755575785462, 0.000126295091963757, 0.000526632230895258, -0.000259305985126003,
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0.000412751148048724},
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{2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753,
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-0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271,
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-8.47348746872376e-05, -1.92509604512729e-06},
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{-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815, 0.0887545371234514,
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-0.193862330062381, 0.000216532998121618, -0.00207707610520973, 0.000552928905346826,
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0.00190182163597828}};
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susHandlingParameters.sus2orientationMatrix = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};
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susHandlingParameters.sus2coeffAlpha = {
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{6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
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0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
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9.74494676304114e-05, 0.000334122888261002},
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{0.954398509323963, 1.10996214782069, 0.313314231563221, -0.00367553051112208,
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0.0110290193380194, 0.000240079475656232, -6.93444423181303e-05, 0.000107433381295167,
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1.30750132315838e-05, -2.43580795300515e-05},
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{-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258,
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0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709,
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-0.000586102213707195, 0.000658133691098817},
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{1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053, 0.00202677073171519,
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0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05, 3.93641210098335e-05,
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4.06398431916703e-05},
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{3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784,
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-0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589,
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0.000137876961532787, -0.000326798596746712},
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{6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201,
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0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06,
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7.25318569569788e-06, -2.5930447720704e-05},
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{191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846, -0.344226468125615,
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0.126267158197535, -0.00186612281541009, 0.00304415728817747, -0.00304958575196089,
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0.000457236034569107},
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{5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849,
|
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-0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05,
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5.81988007269583e-05, 1.3723604109425e-05},
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{98.0250669452855, -2.18500123986039, -6.68238707939385, 0.000754807832106659,
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0.256133336978808, 0.110826583415768, 0.000457663127670018, -0.00197655629847616,
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-0.00254305206375073, -0.000466731538082995}};
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susHandlingParameters.sus2coeffBeta = {
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{41.1102358678699, 2.3034699186519, 2.74551448799899, 0.061701310929235, 0.0317074142089495,
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0.0308171492962288, 0.00049453042200054, 0.000519222896270701, 2.85420168881716e-05,
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0.000259197384126413},
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{4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156,
|
||||
0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05,
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-5.49439160235527e-05, -8.30708110469922e-05},
|
||||
{64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773, -0.077990648565002,
|
||||
0.0613989204238974, 0.00055512113297293, -0.000347045533958329, 0.00104059576098392,
|
||||
-0.000348638726253297},
|
||||
{3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723, -0.0067958260462381,
|
||||
0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05, -5.55828531601728e-05,
|
||||
0.000109833374761172},
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{0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939,
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0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678,
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0.000292373398965513, 0.000183599033441813},
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{2.84967971406268, -0.21374251183113, 1.09938586447269, 2.34894704600407e-05,
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0.00588345375399262, 0.00296966835738407, 8.42707308834155e-06, 2.81870099202641e-06,
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-3.56732787246631e-05, -7.04534663356379e-05},
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{-7.59892007483895, 0.358662160515702, 0.805137646978357, 0.00222144376998348,
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0.0464438387809707, 0.00847551828841782, 3.24805702347551e-05, 5.45500807838332e-05,
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0.000941378089367713, 0.000353137737023192},
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{-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975,
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0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05,
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-7.47076172176468e-05, -1.94516917836346e-05},
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{-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197, -0.0380997421813177,
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-0.0581898335691109, 0.00111464935006159, 0.000559313074537689, 0.000168067749764069,
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0.000563224178849256}};
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susHandlingParameters.sus3orientationMatrix = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
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susHandlingParameters.sus3coeffAlpha = {
|
||||
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{-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327,
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{-4.9880829382985, 1.33627775121504, -0.330382157073243, 0.00306744056311184,
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||||
7.4423443938376e-05, -0.000107927900087035},
|
||||
{0.952867982900728, 1.14513280899596, 0.307744203675505, 0.000404669974219378,
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{8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295,
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7.80079707003333e-05, -8.95904360920744e-05},
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{-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278, 0.130143669167547,
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{3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041,
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{78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499, 0.146629920899062,
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||||
susHandlingParameters.sus3coeffBeta = {
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||||
{-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957, -0.11257100034746,
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{24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466, -0.0526971951753399,
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{0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142,
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{-3.05400297018165, -0.316256447664344, 1.14841722699638, 0.000671621084688467,
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|
||||
susHandlingParameters.sus4orientationMatrix = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};
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||||
susHandlingParameters.sus4coeffAlpha = {
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{0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128,
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susHandlingParameters.sus4coeffBeta = {
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||||
{-33.5225408043693, -3.11167857248829, 1.91760591695775, -0.0963752386435729,
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||||
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||||
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||||
{19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458,
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{2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271, 0.00148059212230411,
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{27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388, -0.0341141456915131,
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||||
susHandlingParameters.sus5orientationMatrix = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};
|
||||
susHandlingParameters.sus5coeffAlpha = {
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||||
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|
||||
susHandlingParameters.sus5coeffBeta = {
|
||||
{16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669, 0.0426379914736747,
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||||
-0.000336529204350355}};
|
||||
susHandlingParameters.sus6orientationMatrix = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};
|
||||
susHandlingParameters.sus6coeffAlpha = {
|
||||
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
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||||
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||||
0.00091428505258307, 0.000259857066722932},
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||||
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||||
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577, 0.0617635595955198,
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||||
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6.09619017310129e-05, 4.23908862836885e-05},
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{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216, -0.0219752092833362,
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susHandlingParameters.sus6coeffBeta = {
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susHandlingParameters.sus7orientationMatrix = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
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||||
susHandlingParameters.sus7coeffAlpha = {
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susHandlingParameters.sus7coeffBeta = {
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susHandlingParameters.sus8orientationMatrix = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};
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susHandlingParameters.sus8coeffAlpha = {
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susHandlingParameters.sus8coeffBeta = {
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susHandlingParameters.sus9orientationMatrix = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
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susHandlingParameters.sus9coeffAlpha = {
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susHandlingParameters.sus9coeffBeta = {
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|
||||
-0.145644717742057, -0.0316076203283094, -0.000136443337244472, -0.00153945199081365,
|
||||
0.000938960439977633, 0.000599987111822885},
|
||||
{2.7980384746608, -0.234741037383589, 1.5342193016705, -0.000993791566721689,
|
||||
-0.00787533639513478, 0.00927468655141365, 2.63308697896639e-05, -3.42816267184975e-05,
|
||||
-8.48879419798771e-05, 3.84043821333798e-05},
|
||||
{0.427687530667804, -0.346076633694936, 1.22968527483851, -4.95098138311122e-05,
|
||||
0.000298245372198029, 0.000332756250024796, 0.00040375986210644, 5.20675972504572e-05,
|
||||
0.000327042170278218, 5.93011568264671e-05},
|
||||
{4.50337810133314, -0.279364254817202, 0.945812187846199, 0.000116182663432306,
|
||||
0.0115646046622083, 0.00908289960302886, 1.90394667311541e-05, -4.4360223646434e-06,
|
||||
-0.000131398914898614, -0.000145568992865512},
|
||||
{-36.3377213654193, 2.21047221783626, 0.0609982245149821, -0.0670546774988572,
|
||||
0.016827777144747, -0.0277834084058314, 0.000778301409125556, 0.000135846745194401,
|
||||
0.00043261858797068, -0.00021172728254561},
|
||||
{-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792,
|
||||
0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05,
|
||||
-0.000107500091550635, -5.1379722947632e-07},
|
||||
{-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584, -0.0625549615377418,
|
||||
0.019178365782485, 0.000664877496455304, 0.000942971403881222, 0.000190754698755098,
|
||||
-0.000372226659190439}};
|
||||
susHandlingParameters.sus10orientationMatrix = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};
|
||||
susHandlingParameters.sus10coeffAlpha = {
|
||||
{14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
|
||||
0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
|
||||
-0.000279407497782961, 0.000726904943739837},
|
||||
{-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316,
|
||||
0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05,
|
||||
-3.13338277344246e-05, 5.32977236959767e-06},
|
||||
{30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413, -0.0553588742704929,
|
||||
0.0299275582316466, 0.000167915322354466, -0.00050925078118232, 0.000463662961330962,
|
||||
-0.000232919143454163},
|
||||
{2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675,
|
||||
0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05,
|
||||
6.4669137025142e-05, 0.000209727581169138},
|
||||
{-0.784841314851562, 1.10058314980836, 0.314063830836532, 0.000583003703415889,
|
||||
0.000312635453606579, -0.000183738114552387, 0.000214096205760617, -0.000286744686021244,
|
||||
0.000159157597180407, -0.00032235099420715},
|
||||
{7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199,
|
||||
-0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05,
|
||||
8.85844309936609e-05, -0.000143217870916994},
|
||||
{-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416, 0.0385056413989437,
|
||||
-0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05, 0.000514049116643205,
|
||||
0.000112015427600697},
|
||||
{-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885,
|
||||
-0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05,
|
||||
-7.55982776243849e-06, 2.78417756661088e-06},
|
||||
{-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327, -0.0193152048730234,
|
||||
-0.0600902798379509, 0.00031786916010672, 0.000162178988605602, 0.000224550786416246,
|
||||
0.000614337977361927}};
|
||||
susHandlingParameters.sus10coeffBeta = {
|
||||
{12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043, 0.0220810531548995,
|
||||
-0.0220926906772, 0.000310052324529521, 0.000658151808869523, -0.000288026365111098,
|
||||
-0.000214619731807045},
|
||||
{-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075,
|
||||
0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05,
|
||||
-5.4550919751855e-05, -8.6314530565085e-05},
|
||||
{-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321, 0.090326735447661,
|
||||
-0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509, -0.000956171370931993,
|
||||
0.000491554402311223},
|
||||
{-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089,
|
||||
-0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05,
|
||||
-4.85061736834262e-05, -1.8387092782907e-06},
|
||||
{-0.250205907903409, -0.315819331560782, 1.09018364376391, -0.000521787614293089,
|
||||
-0.000500747760913489, 2.48184307342838e-05, 0.000313799238640988, 0.000136669146368744,
|
||||
0.000278914324565192, 0.000218512838469476},
|
||||
{-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669,
|
||||
0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06,
|
||||
-5.41141037812903e-05, 8.50767021818388e-06},
|
||||
{58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612, -0.112195722921667,
|
||||
0.0890150265857542, -0.000100675657768708, 0.000493488022135339, -0.00137672908303878,
|
||||
0.000518683157694955},
|
||||
{3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344,
|
||||
0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05,
|
||||
-6.07871064300252e-05, 1.91822310311955e-05},
|
||||
{-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427,
|
||||
-0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439,
|
||||
0.000551249824375055, 0.00062236627391337}};
|
||||
susHandlingParameters.sus11orientationMatrix = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};
|
||||
susHandlingParameters.sus11coeffAlpha = {
|
||||
{-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707,
|
||||
-0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528,
|
||||
0.000166230212359982, 0.00103455037278067},
|
||||
{-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314,
|
||||
0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439,
|
||||
1.89380065823205e-05, 1.83481122973969e-07},
|
||||
{-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062, 0.227153492753605,
|
||||
0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792, -0.00247865821192621,
|
||||
-0.00166333309739387},
|
||||
{-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732,
|
||||
0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05,
|
||||
0.000127251739461239, 3.26943341606363e-05},
|
||||
{-2.20391533717674, 1.32902400478083, 0.38633027011889, 0.00104660852197061,
|
||||
0.00105228824412283, -0.00242067551428214, -6.98346290136652e-05, -0.000369075232184835,
|
||||
-1.59510520000704e-05, -0.000448565104826966},
|
||||
{-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109,
|
||||
-0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05,
|
||||
0.000146570207542509, 0.000201596912834554},
|
||||
{-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635, 0.047897938410221,
|
||||
-0.0355687158405231, 0.000374738707508583, -0.000448453494537518, 0.000377784972619365,
|
||||
-0.000276573228333836},
|
||||
{-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855,
|
||||
-0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05,
|
||||
7.75581514100296e-05, -9.25934285039627e-06},
|
||||
{183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303, 0.314006821405967,
|
||||
0.200264755034566, -0.0011895153717447, -0.00253812476819896, -0.00291324393641628,
|
||||
-0.00140062522117514}};
|
||||
susHandlingParameters.sus11coeffBeta = {
|
||||
{34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433, 0.0562461093661426,
|
||||
0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05, 0.00102633196865105,
|
||||
0.000552974013759876},
|
||||
{7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871, 0.00163731860604376,
|
||||
-0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05, -4.27874746147066e-05,
|
||||
-8.77418673597557e-05},
|
||||
{130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681, -0.188837138116058,
|
||||
0.346177462085361, -0.000183276946352264, -0.000702183496893294, 0.00293145272693857,
|
||||
-0.00318194442670715},
|
||||
{-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05,
|
||||
-0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06,
|
||||
-0.000156596507890443, -0.000123254220377897},
|
||||
{3.67569209537767, -0.387260959713287, 1.31343215605952, -0.00206444615206506,
|
||||
0.00145334813110285, -0.00151259497696238, 0.000449492568365603, 6.95883968949488e-07,
|
||||
0.000368585523744765, -6.3420715525635e-05},
|
||||
{14.3296323024886, -0.182979476956897, 0.306817119309235, -0.00022212115978293,
|
||||
0.00463485302909649, 0.0277574953550035, 1.1422454625565e-05, 1.06053257479502e-05,
|
||||
-2.05720000720608e-05, -0.000338584671430337},
|
||||
{-18.7534921817754, 1.14272710923224, 0.460498062012866, -0.00995826989278202,
|
||||
0.0658502318647112, 0.00616942819937029, -7.70857153768402e-05, -0.000641755741925561,
|
||||
0.00047849204592989, 0.000158509018296766},
|
||||
{1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305,
|
||||
-0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05,
|
||||
-6.74778593434431e-05, -2.81973589469059e-05},
|
||||
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136, 0.167666815691513,
|
||||
0.163137400730063, -0.000609874123906977, -0.00205336098697513, -0.000889232196185857,
|
||||
-0.00168429567131815}};
|
||||
|
||||
|
||||
rwHandlingParameters.inertiaWheel = 0.000028198;
|
||||
rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
|
||||
|
||||
//Geometry frame
|
||||
rwMatrices.alignmentMatrix = {
|
||||
{ 0.9205, 0.0000, -0.9205, 0.0000},
|
||||
{ 0.0000, -0.9205, 0.0000, 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() {
|
||||
}
|
||||
AcsParameters::~AcsParameters() {}
|
||||
|
||||
/*
|
||||
ReturnValue_t AcsParameters::getParameter(uint8_t domainId,
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user