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Merge branch 'mekf-fix' into prevent-str-blinding
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This commit is contained in:
Marius Eggert
2024-02-12 13:28:17 +01:00
parent c064d1f625 c85bef6de4
commit f56d1c2b12
3 changed files with 35 additions and 119 deletions
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23
mission/controller/acs/AcsParameters.h
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@ -8,6 +8,9 @@
typedef unsigned char uint8_t;
class AcsParameters : public HasParametersIF {
private:
static constexpr double DEG2RAD = M_PI / 180.;
public:
AcsParameters();
virtual ~AcsParameters();
@ -884,7 +887,7 @@ class AcsParameters : public HasParametersIF {
uint8_t avoidBlindStr = true;
double blindAvoidStart = 1.5;
double blindAvoidStop = 2.5;
double blindRotRate = 1 * DEG2RAD;
double blindRotRate = 1. * DEG2RAD;
} targetModeControllerParameters;
struct GsTargetModeControllerParameters : PointingLawParameters {
@ -911,7 +914,7 @@ class AcsParameters : public HasParametersIF {
} inertialModeControllerParameters;
struct StrParameters {
double exclusionAngle = 20 * DEG2RAD;
double exclusionAngle = 20. * DEG2RAD;
double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // geometry frame
} strParameters;
@ -937,13 +940,13 @@ class AcsParameters : public HasParametersIF {
} sunModelParameters;
struct KalmanFilterParameters {
double sensorNoiseSTR = 0.1 * DEG2RAD;
double sensorNoiseSS = 8 * DEG2RAD;
double sensorNoiseMAG = 4 * DEG2RAD;
double sensorNoiseGYR = 0.1 * DEG2RAD;
double sensorNoiseStr = 0.1 * DEG2RAD;
double sensorNoiseSus = 8. * DEG2RAD;
double sensorNoiseMgm = 4. * DEG2RAD;
double sensorNoiseGyr = 0.1 * DEG2RAD;
double sensorNoiseArwGYR = 3 * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseBsGYR = 3 * DEG2RAD / 3600; // Bias Stability
double sensorNoiseGyrArw = 3. * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
double sensorNoiseGyrBs = 3. / 3600. * DEG2RAD; // Bias Stability
} kalmanFilterParameters;
struct MagnetorquerParameter {
@ -965,8 +968,6 @@ class AcsParameters : public HasParametersIF {
double gainFull = pow(10.0, -2.3);
uint8_t useFullDetumbleLaw = false;
} detumbleParameter;
private:
static constexpr double DEG2RAD = M_PI / 180.;
};
#endif /* ACSPARAMETERS_H_ */