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

removed instance of AcsParameters as part of actuatorCmd

Browse Source
This commit is contained in:
Marius Eggert
2023-02-27 16:37:09 +01:00
parent afb9303dcb
commit fd4be08796
2 changed files with 21 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
mission/controller/acs/ActuatorCmd.cpp
View File

@ -10,13 +10,14 @@
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
ActuatorCmd::ActuatorCmd() {}
ActuatorCmd::~ActuatorCmd() {}
void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled,
AcsParameters::RwHandlingParameters *rwHandlingParameters) {
// Scaling the commanded torque to a maximum value
double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
double maxTrq = rwHandlingParameters->maxTrq;
double maxValue = 0;
for (int i = 0; i < 4; i++) { // size of torque, always 4 ?
@ -33,17 +34,17 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed) {
const double *rwTorque, int32_t *rwCmdSpeed,
AcsParameters *acsParameters) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
double deltaSpeed[4] = {0, 0, 0, 0};
double commandTime = acsParameters.onBoardParams.sampleTime,
inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = commandTime / inertiaWheel * radToRpm;
double factor = acsParameters->onBoardParams.sampleTime /
acsParameters->rwHandlingParameters.inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
for (int i = 0; i < 4; i++) {
@ -53,13 +54,15 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
AcsParameters::MagnetorquerParameter *magnetorquerParameter) {
sif::debug << magnetorquerParameter->dipolMax << std::endl;
// Convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
MatrixOperations<double>::multiply(*magnetorquerParameter->inverseAlignment, dipolMoment,
dipolMomentActuatorDouble, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxDipol = magnetorquerParameter->dipolMax;
double maxValue = 0;
for (int i = 0; i < 3; i++) {
if (abs(dipolMomentActuator[i]) > maxDipol) {