eive/eive-obsw
eive/eive-obsw
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This commit is contained in:
Marius Eggert 2023-02-17 13:54:36 +01:00
parent f0d77125e1
commit f12fa77644
3 changed files with 17 additions and 48 deletions
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10
mission/controller/AcsController.cpp
View File

@ -250,8 +250,8 @@ void AcsController::performPointingCtrl() {
switch (submode) {
case acs::PTG_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
guidance.targetQuatPtgSun(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
@ -319,8 +319,8 @@ void AcsController::performPointingCtrl() {
break;
case acs::PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
guidance.targetQuatPtgNadirThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
@ -341,7 +341,7 @@ void AcsController::performPointingCtrl() {
break;
case acs::PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
guidance.targetQuatPtgInertial(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
4 * sizeof(double));
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;

13
mission/controller/acs/Guidance.cpp
View File

@ -1,10 +1,3 @@
/*
* Guidance.cpp
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#include "Guidance.h"
#include <fsfw/datapool/PoolReadGuard.h>
@ -355,7 +348,7 @@ void Guidance::targetQuatPtgGs(timeval now, double targetQuat[4], double refSatR
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::sunQuatPtg(timeval now, double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtgSun(timeval now, double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to sun
//-------------------------------------------------------------------------------------
@ -421,7 +414,7 @@ void Guidance::sunQuatPtg(timeval now, double targetQuat[4], double refSatRate[3
refSatRate[2] = 0;
}
void Guidance::quatNadirPtgSingleAxis(timeval now, double targetQuat[4],
void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4],
double refSatRate[3]) { // old version of Nadir Pointing
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
@ -535,7 +528,7 @@ void Guidance::quatNadirPtgThreeAxes(double posSateE[3], double velSateE[3], tim
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]) {
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
4 * sizeof(double));
std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,

42
mission/controller/acs/Guidance.h
View File

@ -1,10 +1,3 @@
/*
* Guidance.h
*
* Created on: 6 Jun 2022
* Author: Robin Marquardt
*/
#ifndef GUIDANCE_H_
#define GUIDANCE_H_
@ -23,44 +16,27 @@ class Guidance {
// Function to get the target quaternion and refence rotation rate from gps position and
// position of the ground station
void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
double refSatRate[3]);
void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]);
void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
double targetQuat[4], double refSatRate[3]);
void targetQuatPtgThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
void targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]);
void targetQuatPtgSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate for sun pointing after ground
// station
void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
double refSatRate[3]);
void targetQuatPtgSun(timeval now, double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing
void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
acsctrl::GpsDataProcessed *gpsDataProcessed,
acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
double refSatRate[3]);
void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
timeval now, double targetQuat[4], double refSatRate[3]);
void targetQuatPtgNadirThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
void targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
// Function to get the target quaternion and refence rotation rate from parameters for inertial
// pointing
void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
void targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]);
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
// desired
void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
double refSatRate[3], double quatErrorComplete[4], double quatError[3],
double deltaRate[3]);
void comparePtg(double targetQuat[4], double quatRef[4], double refSatRate[3],
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *refSatRate);