added saftCtrl to acsController
This commit is contained in:
@ -6,182 +6,172 @@
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*/
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#include "SafeCtrl.h"
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#include "../util/MathOperations.h"
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#include <math.h>
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#include <fsfw/globalfunctions/constants.h>
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <math.h>
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#include "../util/MathOperations.h"
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SafeCtrl::SafeCtrl(AcsParameters *acsParameters_){
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loadAcsParameters(acsParameters_);
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MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3, 3);
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SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) {
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loadAcsParameters(acsParameters_);
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MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3,
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3);
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}
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SafeCtrl::~SafeCtrl(){
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SafeCtrl::~SafeCtrl() {}
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}
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void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_){
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safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
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inertiaEIVE = &(acsParameters_->inertiaEIVE);
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void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
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safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
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inertiaEIVE = &(acsParameters_->inertiaEIVE);
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}
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ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool *quatBJValid,
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double *magFieldModel, bool *magFieldModelValid,
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double *sunDirModel, bool *sunDirModelValid,
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double *satRateMekf, bool *rateMekfValid,
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double *sunDirRef, double *satRatRef,
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double *outputMagMomB, bool *outputValid){
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double *magFieldModel, bool *magFieldModelValid,
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double *sunDirModel, bool *sunDirModelValid, double *satRateMekf,
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bool *rateMekfValid, double *sunDirRef, double *satRatRef,
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double *outputMagMomB, bool *outputValid) {
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if (!(*quatBJValid) || !(*magFieldModelValid) || !(*sunDirModelValid) || !(*rateMekfValid)) {
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*outputValid = false;
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return SAFECTRL_MEKF_INPUT_INVALID;
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}
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if ( !(*quatBJValid) || !(*magFieldModelValid) || !(*sunDirModelValid) ||
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!(*rateMekfValid)) {
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*outputValid = false;
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return SAFECTRL_MEKF_INPUT_INVALID;
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}
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double kRate = 0, kAlign = 0;
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kRate = safeModeControllerParameters->k_rate_mekf;
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kAlign = safeModeControllerParameters->k_align_mekf;
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double kRate = 0, kAlign = 0;
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kRate = safeModeControllerParameters->k_rate_mekf;
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kAlign = safeModeControllerParameters->k_align_mekf;
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// Calc sunDirB ,magFieldB with mekf output and model
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double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
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double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
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// Calc sunDirB ,magFieldB with mekf output and model
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double dcmBJ[3][3] = {{0,0,0},{0,0,0},{0,0,0}};
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MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
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double sunDirB[3] = {0,0,0}, magFieldB[3] = {0,0,0};
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MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
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double crossSun[3] = {0, 0, 0};
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double crossSun[3] = {0, 0, 0};
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VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
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double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
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VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
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double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
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// calc angle alpha between sunDirRef and sunDIr
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double alpha = 0, dotSun = 0;
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dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
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alpha = acos(dotSun);
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// calc angle alpha between sunDirRef and sunDIr
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double alpha = 0, dotSun = 0;
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dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
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alpha = acos(dotSun);
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// Law Torque calculations
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double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
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torqueAll[3] = {0, 0, 0};
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// Law Torque calculations
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double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0},
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torqueRate[3] = {0, 0, 0}, torqueAll[3] = {0, 0, 0};
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double scalarFac = 0;
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scalarFac = kAlign * alpha / normCrossSun;
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VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
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double scalarFac = 0;
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scalarFac = kAlign * alpha / normCrossSun;
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VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
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double rateSafeMode[3] = {0, 0, 0};
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VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
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VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
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double rateSafeMode[3] = {0,0,0};
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VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
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VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
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VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
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// Adding factor of inertia for axes
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MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
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VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
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// Adding factor of inertia for axes
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MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
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// MagMom B (orthogonal torque)
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double torqueMgt[3] = {0,0,0};
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VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
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double normMag = VectorOperations<double>::norm(magFieldB, 3);
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VectorOperations<double>::mulScalar(torqueMgt, 1/pow(normMag,2), outputMagMomB, 3);
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*outputValid = true;
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return returnvalue::OK;
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// MagMom B (orthogonal torque)
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double torqueMgt[3] = {0, 0, 0};
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VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
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double normMag = VectorOperations<double>::norm(magFieldB, 3);
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VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
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*outputValid = true;
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return returnvalue::OK;
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}
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// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
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void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool *susDirBValid,
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double *sunRateB, bool *sunRateBValid,
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double *magFieldB, bool *magFieldBValid,
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double *magRateB, bool *magRateBValid,
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double *sunDirRef, double *satRateRef,
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double *outputMagMomB, bool *outputValid){
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void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool *susDirBValid, double *sunRateB,
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bool *sunRateBValid, double *magFieldB, bool *magFieldBValid,
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double *magRateB, bool *magRateBValid, double *sunDirRef,
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double *satRateRef, double *outputMagMomB, bool *outputValid) {
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// Check for invalid Inputs
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if (!susDirBValid || !magFieldBValid || !magRateBValid) {
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*outputValid = false;
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return;
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}
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// Check for invalid Inputs
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if ( !susDirBValid || !magFieldBValid || !magRateBValid) {
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*outputValid = false;
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return;
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}
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// normalize sunDir and magDir
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double magDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(magFieldB, magDirB, 3);
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VectorOperations<double>::normalize(susDirB, susDirB, 3);
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// normalize sunDir and magDir
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double magDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(magFieldB, magDirB, 3);
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VectorOperations<double>::normalize(susDirB, susDirB, 3);
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// Cosinus angle between sunDir and magDir
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double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
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// Cosinus angle between sunDir and magDir
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double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
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// Rate parallel to sun direction and magnetic field direction
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double rateParaSun = 0, rateParaMag = 0;
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double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
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dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
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dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
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rateFactor = 1 - pow(cosAngleSunMag, 2);
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rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
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rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
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// Rate parallel to sun direction and magnetic field direction
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double rateParaSun = 0, rateParaMag = 0;
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double dotSunRateMag = 0, dotmagRateSun = 0,
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rateFactor = 0;
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dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
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dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
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rateFactor = 1 - pow(cosAngleSunMag,2);
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rateParaSun = ( dotmagRateSun + cosAngleSunMag * dotSunRateMag ) / rateFactor;
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rateParaMag = ( dotSunRateMag + cosAngleSunMag * dotmagRateSun ) / rateFactor;
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// Full rate or estimate
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double estSatRate[3] = {0, 0, 0};
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double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
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VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
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VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
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VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
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VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
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VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
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// Full rate or estimate
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double estSatRate[3] = {0, 0, 0};
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double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
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VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
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VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
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VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
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VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
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VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
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/* Only valid if angle between sun direction and magnetic field direction
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is sufficiently large */
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/* Only valid if angle between sun direction and magnetic field direction
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is sufficiently large */
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double sinAngle = 0;
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sinAngle = sin(acos(cos(cosAngleSunMag)));
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double sinAngle = 0;
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sinAngle = sin(acos(cos(cosAngleSunMag)));
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if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
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return;
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}
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if ( !(sinAngle > sin( safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
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return;
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}
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// Rate for Torque Calculation
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double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
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VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
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// Rate for Torque Calculation
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double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
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VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
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// Torque Align calculation
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double kRateNoMekf = 0, kAlignNoMekf = 0;
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kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
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kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
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// Torque Align calculation
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double kRateNoMekf = 0, kAlignNoMekf = 0;
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kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
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kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
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double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
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double crossSusSunRef[3] = {0, 0, 0};
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VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef);
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double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3);
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double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
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double crossSusSunRef[3] = {0, 0, 0};
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VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef);
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double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3);
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double torqueAlign[3] = {0, 0, 0};
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double angleAlignErr = acos(cosAngleAlignErr);
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double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr;
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VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3);
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double torqueAlign[3] = {0, 0, 0};
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double angleAlignErr = acos(cosAngleAlignErr);
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double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr;
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VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3);
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// Torque Rate Calculations
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double torqueRate[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3);
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//Torque Rate Calculations
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double torqueRate[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3);
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// Final torque
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double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
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VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
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MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3,
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1);
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//Final torque
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double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
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VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
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MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3, 1);
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// Magnetic moment
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double magMomB[3] = {0, 0, 0};
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double crossMagFieldTorque[3] = {0, 0, 0};
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VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
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double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
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VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
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//Magnetic moment
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double magMomB[3] = {0, 0, 0};
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double crossMagFieldTorque[3] = {0, 0, 0};
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VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
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double magMomFactor = pow( VectorOperations<double>::norm(magFieldB, 3), 2 );
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VectorOperations<double>::mulScalar(crossMagFieldTorque, 1/magMomFactor, magMomB, 3);
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outputMagMomB[0] = magMomB[0];
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outputMagMomB[1] = magMomB[1];
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outputMagMomB[2] = magMomB[2];
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*outputValid = true;
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outputMagMomB[0] = magMomB[0];
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outputMagMomB[1] = magMomB[1];
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outputMagMomB[2] = magMomB[2];
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*outputValid = true;
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}
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