From ff76f99ad9e673e6e577f2ff26353f2d26ca5e1c Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 7 Feb 2024 10:00:32 +0100
Subject: [PATCH] some fun with parameters

---
 mission/controller/acs/AcsParameters.h | 56 +++++++++++++-------------
 1 file changed, 29 insertions(+), 27 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 09804612..f4a1f309 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -22,7 +22,7 @@ class AcsParameters : public HasParametersIF {
     uint8_t fusedRateSafeDuringEclipse = true;
     uint8_t fusedRateFromStr = false;
     uint8_t fusedRateFromQuest = false;
-    double questFilterWeight = 0.0;
+    double questFilterWeight = 0.9;
   } onBoardParams;
 
   struct InertiaEIVE {
@@ -854,7 +854,7 @@ class AcsParameters : public HasParametersIF {
   struct PointingLawParameters {
     double zeta = 0.3;
     double om = 0.3;
-    double omMax = 1 * M_PI / 180;
+    double omMax = 1 * DEG2RAD;
     double qiMin = 0.1;
 
     double gainNullspace = 0.01;
@@ -876,15 +876,15 @@ class AcsParameters : public HasParametersIF {
     uint8_t timeElapsedMax = 10;  // rot rate calculations
 
     // Default is Stuttgart GS
-    double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
-    double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
-    double altitudeTgt = 500;                     // [m]
+    double latitudeTgt = 48.7495 * DEG2RAD;   // [rad] Latitude
+    double longitudeTgt = 9.10384 * DEG2RAD;  // [rad] Longitude
+    double altitudeTgt = 500;                 // [m]
 
     // For one-axis control:
     uint8_t avoidBlindStr = true;
     double blindAvoidStart = 1.5;
     double blindAvoidStop = 2.5;
-    double blindRotRate = 1 * M_PI / 180;
+    double blindRotRate = 1 * DEG2RAD;
   } targetModeControllerParameters;
 
   struct GsTargetModeControllerParameters : PointingLawParameters {
@@ -892,9 +892,9 @@ class AcsParameters : public HasParametersIF {
     uint8_t timeElapsedMax = 10;          // rot rate calculations
 
     // Default is Stuttgart GS
-    double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
-    double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
-    double altitudeTgt = 500;                     // [m]
+    double latitudeTgt = 48.7495 * DEG2RAD;   // [rad] Latitude
+    double longitudeTgt = 9.10384 * DEG2RAD;  // [rad] Longitude
+    double altitudeTgt = 500;                 // [m]
   } gsTargetModeControllerParameters;
 
   struct NadirModeControllerParameters : PointingLawParameters {
@@ -911,7 +911,7 @@ class AcsParameters : public HasParametersIF {
   } inertialModeControllerParameters;
 
   struct StrParameters {
-    double exclusionAngle = 20 * M_PI / 180;
+    double exclusionAngle = 20 * DEG2RAD;
     double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // geometry frame
   } strParameters;
 
@@ -925,25 +925,25 @@ class AcsParameters : public HasParametersIF {
 
   struct SunModelParameters {
     float domega = 36000.771;
-    float omega_0 = 280.46 * M_PI / 180.;  // RAAN plus argument of
-                                           // perigee
-    float m_0 = 357.5277;                  // coefficients for mean anomaly
-    float dm = 35999.049;                  // coefficients for mean anomaly
-    float e = 23.4392911 * M_PI / 180.;    // angle of earth's rotation axis
-    float e1 = 0.74508 * M_PI / 180.;
+    float omega_0 = 280.46 * DEG2RAD;  // RAAN plus argument of
+                                       // perigee
+    float m_0 = 357.5277;              // coefficients for mean anomaly
+    float dm = 35999.049;              // coefficients for mean anomaly
+    float e = 23.4392911 * DEG2RAD;    // angle of earth's rotation axis
+    float e1 = 0.74508 * DEG2RAD;
 
-    float p1 = 6892. / 3600. * M_PI / 180.;  // some parameter
-    float p2 = 72. / 3600. * M_PI / 180.;    // some parameter
+    float p1 = 6892. / 3600. * DEG2RAD;  // some parameter
+    float p2 = 72. / 3600. * DEG2RAD;    // some parameter
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseSTR = 0.1 * M_PI / 180;
-    double sensorNoiseSS = 8 * M_PI / 180;
-    double sensorNoiseMAG = 4 * M_PI / 180;
-    double sensorNoiseGYR = 0.1 * M_PI / 180;
+    double sensorNoiseSTR = 0.1 * DEG2RAD;
+    double sensorNoiseSS = 8 * DEG2RAD;
+    double sensorNoiseMAG = 4 * DEG2RAD;
+    double sensorNoiseGYR = 0.1 * DEG2RAD;
 
-    double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180;  // Angular Random Walk
-    double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600;                // Bias Stability
+    double sensorNoiseArwGYR = 3 * 0.0043 / sqrt(10) * DEG2RAD;  // Angular Random Walk
+    double sensorNoiseBsGYR = 3 * DEG2RAD / 3600;                // Bias Stability
   } kalmanFilterParameters;
 
   struct MagnetorquerParameter {
@@ -959,12 +959,14 @@ class AcsParameters : public HasParametersIF {
 
   struct DetumbleParameter {
     uint8_t detumblecounter = 75;  // 30 s
-    double omegaDetumbleStart = 2 * M_PI / 180;
-    double omegaDetumbleEnd = 1 * M_PI / 180;
+    double omegaDetumbleStart = 2 * DEG2RAD;
+    double omegaDetumbleEnd = 1 * DEG2RAD;
     double gainBdot = pow(10.0, -3.3);
     double gainFull = pow(10.0, -2.3);
     uint8_t useFullDetumbleLaw = false;
   } detumbleParameter;
-};
 
+ private:
+  static constexpr double DEG2RAD = M_PI / 180.;
+};
 #endif /* ACSPARAMETERS_H_ */