eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

added saftCtrl to acsController

Browse Source
This commit is contained in:
Marius Eggert
2022-10-20 11:07:45 +02:00
parent 5c2266e214
commit deb7c4e500
4 changed files with 221 additions and 179 deletions
Download Patch File Download Diff File Expand all files Collapse all files

69
mission/controller/acs/control/SafeCtrl.h
View File

@ -8,57 +8,46 @@
#ifndef SAFECTRL_H_
#define SAFECTRL_H_
#include "../SensorValues.h"
#include "../OutputValues.h"
#include "../AcsParameters.h"
#include "../config/classIds.h"
#include <string.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "../AcsParameters.h"
#include "../OutputValues.h"
#include "../SensorValues.h"
#include "../config/classIds.h"
class SafeCtrl{
class SafeCtrl {
public:
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl();
void loadAcsParameters(AcsParameters *acsParameters_);
static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
ReturnValue_t safeMekf(timeval now, double *quatBJ, bool *quatBJValid, double *magFieldModel,
bool *magFieldModelValid, double *sunDirModel, bool *sunDirModelValid,
double *satRateMekf, bool *rateMekfValid, double *sunDirRef,
double *satRatRef, // From Guidance (!)
double *outputMagMomB, bool *outputValid);
void loadAcsParameters(AcsParameters *acsParameters_);
void safeNoMekf(timeval now, double *susDirB, bool *susDirBValid, double *sunRateB,
bool *sunRateBValid, double *magFieldB, bool *magFieldBValid, double *magRateB,
bool *magRateBValid, double *sunDirRef, double *satRateRef, double *outputMagMomB,
bool *outputValid);
ReturnValue_t safeMekf(timeval now, double *quatBJ, bool *quatBJValid,
double *magFieldModel, bool *magFieldModelValid,
double *sunDirModel, bool *sunDirModelValid,
double *satRateMekf, bool *rateMekfValid,
double *sunDirRef, double *satRatRef, // From Guidance (!)
double *outputMagMomB, bool *outputValid);
void idleSunPointing(); // with reaction wheels
void safeNoMekf(timeval now, double *susDirB, bool *susDirBValid,
double *sunRateB, bool *sunRateBValid,
double *magFieldB, bool *magFieldBValid,
double *magRateB, bool *magRateBValid,
double *sunDirRef, double *satRateRef,
double *outputMagMomB, bool *outputValid);
void idleSunPointing(); // with reaction wheels
protected:
private:
AcsParameters::SafeModeControllerParameters* safeModeControllerParameters;
AcsParameters::InertiaEIVE* inertiaEIVE;
double gainMatrixInertia[3][3];
double magFieldBState[3];
timeval magFieldBStateTime;
protected:
private:
AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
double gainMatrixInertia[3][3];
double magFieldBState[3];
timeval magFieldBStateTime;
};
#endif /* ACS_CONTROL_SAFECTRL_H_ */