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this shouldnt be needed
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This commit is contained in:
Marius Eggert 2023-06-02 10:43:23 +02:00
parent 4aca7a91e3
commit f8d9925785
1 changed files with 8 additions and 26 deletions
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34
mission/controller/acs/Guidance.cpp
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@ -424,21 +424,12 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle // Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired // Calculate error satellite rotational rate
if (errorAngle < 2. / 180. * M_PI) { // First combine the target and reference satellite rotational rates
// First combine the target and reference satellite rotational rates double combinedRefSatRotRate[3] = {0, 0, 0};
double combinedRefSatRotRate[3] = {0, 0, 0}; VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3); // Then subtract the combined required satellite rotational rates from the actual rate
// Then substract the combined required satellite rotational rates from the actual rate VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate,
3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
} }
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
@ -453,17 +444,8 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle // Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired // Calculate error satellite rotational rate
if (errorAngle < 2. / 180. * M_PI) { VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
// Then substract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
} }
void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],