eive/eive-obsw
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removed deprecated acs parameters and set sunMagAngleMin

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This commit is contained in:
Marius Eggert 2022-12-19 14:23:42 +01:00
parent b3a2cc4367
commit e4936b1bed
2 changed files with 6 additions and 37 deletions
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26
mission/controller/acs/AcsParameters.cpp
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@ -219,12 +219,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x23:
parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
break;
case 0x24:
parameterWrapper->set(susHandlingParameters.filterAlpha);
break;
case 0x25:
parameterWrapper->set(susHandlingParameters.sunThresh);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -259,30 +253,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x6): // RwHandlingParameters
switch (parameterId & 0xFF) {
case 0x0:
parameterWrapper->set(rwHandlingParameters.rw0orientationMatrix);
break;
case 0x1:
parameterWrapper->set(rwHandlingParameters.rw1orientationMatrix);
break;
case 0x2:
parameterWrapper->set(rwHandlingParameters.rw2orientationMatrix);
break;
case 0x3:
parameterWrapper->set(rwHandlingParameters.rw3orientationMatrix);
break;
case 0x4:
parameterWrapper->set(rwHandlingParameters.inertiaWheel);
break;
case 0x5:
case 0x1:
parameterWrapper->set(rwHandlingParameters.maxTrq);
break;
case 0x6:
case 0x2:
parameterWrapper->set(rwHandlingParameters.stictionSpeed);
break;
case 0x7:
case 0x3:
parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
break;
case 0x8:
case 0x4:
parameterWrapper->set(rwHandlingParameters.stictionTorque);
break;
default:

17
mission/controller/acs/AcsParameters.h
View File

@ -760,9 +760,6 @@ class AcsParameters : public HasParametersIF {
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.000889232196185857, -0.00168429567131815}};
float filterAlpha;
float sunThresh;
} susHandlingParameters;
struct GyrHandlingParameters {
@ -780,10 +777,6 @@ class AcsParameters : public HasParametersIF {
} gyrHandlingParameters;
struct RwHandlingParameters {
double rw0orientationMatrix[3][3];
double rw1orientationMatrix[3][3];
double rw2orientationMatrix[3][3];
double rw3orientationMatrix[3][3];
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 80; // RPM
@ -795,11 +788,6 @@ class AcsParameters : public HasParametersIF {
double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}};
// double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
// {0.2136, -0.3317, 1.0123},
// {-0.8672, -0.1406, 0.1778},
// {0.6426, 0.4794, 1.3603}};
// where does the first pseudo inverse come frome - matlab gives result below
double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without0[4][3] = {
@ -818,10 +806,9 @@ class AcsParameters : public HasParametersIF {
double k_align_mekf = 0.000056875;
double k_rate_no_mekf = 0.00059437;
;
double k_align_no_mekf = 0.000056875;
;
double sunMagAngleMin; // ???
double sunMagAngleMin = 5 * M_PI / 180;
double sunTargetDir[3] = {0, 0, 1};
double satRateRef[3] = {0, 0, 0};