eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

First Version of ACS Controller #329

Merged
muellerr merged 106 commits from acs-ctrl-v1 into develop 2022-12-02 16:21:58 +01:00
Conversation 0 Commits 106 Files Changed 50 +828 -906
1 changed files with 828 additions and 906 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit c8d91dce7d - Show all commits

616
mission/controller/acs/AcsParameters.h
View File

@ -6,14 +6,14 @@
#ifndef ACSPARAMETERS_H_ #ifndef ACSPARAMETERS_H_
#define ACSPARAMETERS_H_ #define ACSPARAMETERS_H_
#include <cmath>
#include <fsfw/parameters/HasParametersIF.h> #include <fsfw/parameters/HasParametersIF.h>
#include <cmath>
typedef unsigned char uint8_t; typedef unsigned char uint8_t;
class AcsParameters /*: public HasParametersIF*/ { class AcsParameters /*: public HasParametersIF*/ {
public: public:
AcsParameters(); AcsParameters();
virtual ~AcsParameters(); virtual ~AcsParameters();
/* /*
@ -26,96 +26,42 @@ public:
} onBoardParams; } onBoardParams;
struct InertiaEIVE { struct InertiaEIVE {
double inertiaMatrix[3][3] = { double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
{ 1.0, 0.0, 0.0},
{ 0.0, 1.0, 0.0},
{ 0.0, 0.5, 1.0}};
double inertiaMatrixInverse[3][3]; double inertiaMatrixInverse[3][3];
} inertiaEIVE; } inertiaEIVE;
struct MgmHandlingParameters { struct MgmHandlingParameters {
float mgm0orientationMatrix[3][3] = { float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
{ 0, 0,-1}, float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
{ 0, 1, 0}, float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
{ 1, 0, 0}}; float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
float mgm1orientationMatrix[3][3] = { float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
float mgm2orientationMatrix[3][3] = {
{ 0, 0,-1},
{ 0, 1, 0},
{ 1 ,0, 0}};
float mgm3orientationMatrix[3][3] = {
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
float mgm4orientationMatrix[3][3] = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
} mgmHandlingParameters; } mgmHandlingParameters;
struct SusHandlingParameters { struct SusHandlingParameters {
float sus0orientationMatrix[3][3] = { float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM07
{ 0, 0, 1}, float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM06
{ 1, 0, 0}, float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM13
{ 0, 1, 0}}; // FM07 float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM14
float sus1orientationMatrix[3][3] = { float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM05
{ 0, 0,-1}, float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM02
{-1, 0, 0}, float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}}; // FM10
{ 0, 1, 0}}; // FM06 float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; // FM01
float sus2orientationMatrix[3][3] = { float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}}; // FM03
{-1, 0, 0}, float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; // FM11
{ 0, 0,-1}, float sus10orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}; // FM09
{ 0,-1, 0}}; // FM13 float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}}; // FM08
float sus3orientationMatrix[3][3] = {
{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}}; // FM14
float sus4orientationMatrix[3][3] = {
{ 0,-1, 0},
{ 1, 0, 0},
{ 0, 0, 1}}; // FM05
float sus5orientationMatrix[3][3] = {
{ 1, 0, 0},
{ 0,-1, 0},
{ 0, 0,-1}}; // FM02
float sus6orientationMatrix[3][3] = {
{ 0, 0, 1},
{ 1, 0, 0},
{ 0, 1, 0}}; // FM10
float sus7orientationMatrix[3][3] = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}}; // FM01
float sus8orientationMatrix[3][3] = {
{-1, 0, 0},
{ 0, 0,-1},
{ 0,-1, 0}}; // FM03
float sus9orientationMatrix[3][3] = {
{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}}; // FM11
float sus10orientationMatrix[3][3] = {
{ 0,-1, 0},
{ 1, 0, 0},
{ 0, 0, 1}}; // FM09
float sus11orientationMatrix[3][3] = {
{ 1, 0, 0},
{ 0,-1, 0},
{ 0, 0,-1}}; // FM08
float sus0coeffAlpha[9][10] = { float sus0coeffAlpha[9][10] = {
{10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707, -0.0163482459492803, {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
0.035730152619911, 0.00021725657060767, -0.000181685375645396, -0.000124096561459262, -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
0.00040790566176981}, -0.000124096561459262, 0.00040790566176981},
{6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417, 0.010516766426651, {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
0.000446101708841615, 0.00020187044149361, 0.000114957457831415, 1.63114413539632e-05, 0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
-2.0187452317724e-05}, 1.63114413539632e-05, -2.0187452317724e-05},
{-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334, 0.053185806861685, {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
-0.028164943139695, -0.00021098074590512, 0.000643681643489995, -0.000249094601806692, 0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
0.000231466668650876}, -0.000249094601806692, 0.000231466668650876},
{-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384, {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05, -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-9.78534772816957e-06, -4.72083745991256e-05}, -9.78534772816957e-06, -4.72083745991256e-05},
@ -153,22 +99,22 @@ public:
{-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231, {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05, 0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-9.83662017231755e-05, 1.87078667116619e-05}, -9.83662017231755e-05, 1.87078667116619e-05},
{27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016, -0.0481878292619383, {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
0.0052773235604729, -0.000428011927975304, 0.000528018208222772, -0.000285438191474895, -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-5.71327627917386e-05}, -0.000285438191474895, -5.71327627917386e-05},
{-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328, {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05, -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-9.77555098179959e-05, 2.09624089449761e-05}, -9.77555098179959e-05, 2.09624089449761e-05},
{-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461, -0.0355980127727253, {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-0.0213373892796204, 0.00045506092539885, 0.000545065581027688, 0.000141998709314758, -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
0.000101051304611037}}; 0.000141998709314758, 0.000101051304611037}};
float sus1coeffAlpha[9][10] = { float sus1coeffAlpha[9][10] = {
{-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084, {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
-0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176, -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
-0.000178087038629721, 4.09208968678946e-05}, -0.000178087038629721, 4.09208968678946e-05},
{2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385, 0.0117765927439368, {2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385,
-0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956, -9.10792250542345e-06, 0.0117765927439368, -0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956,
-2.03870119873411e-05}, -9.10792250542345e-06, -2.03870119873411e-05},
{26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656, {26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656,
0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331, 0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331,
-0.00063621309529853, -0.00158363678978767}, -0.00063621309529853, -0.00158363678978767},
@ -181,9 +127,9 @@ public:
{0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958, {0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958,
-0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05, -0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05,
2.84958344955681e-05, 0.000128583400693359}, 2.84958344955681e-05, 0.000128583400693359},
{6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284, -0.0158258335207969, {6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284,
0.0328249756354635, 0.00027113042931131, -0.000133980867173428, -0.000357964552318811, -0.0158258335207969, 0.0328249756354635, 0.00027113042931131, -0.000133980867173428,
0.000224235061786191}, -0.000357964552318811, 0.000224235061786191},
{2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401, {2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401,
-0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05, -0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05,
3.28466749016414e-05, -6.63837547601294e-06}, 3.28466749016414e-05, -6.63837547601294e-06},
@ -191,15 +137,15 @@ public:
0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977, 0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977,
-0.00058814458116749}}; -0.00058814458116749}};
float sus1coeffBeta[9][10] = { float sus1coeffBeta[9][10] = {
{-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722, -0.04872758086642, {-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722,
-0.0114263851027856, 0.000141061196404012, -0.000675469545483099, -0.000138249928781575, -0.04872758086642, -0.0114263851027856, 0.000141061196404012, -0.000675469545483099,
-0.000138871036200597}, -0.000138249928781575, -0.000138871036200597},
{10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535, 0.00151674939001532, {10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535,
-0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05, -4.15760162347772e-05, 0.00151674939001532, -0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05,
-7.60797902457032e-05}, -4.15760162347772e-05, -7.60797902457032e-05},
{-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328, 0.00379001947505376, {-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328,
-0.165444163648109, 0.000516545385538741, 1.56053219154647e-05, -5.58651971370719e-05, 0.00379001947505376, -0.165444163648109, 0.000516545385538741, 1.56053219154647e-05,
0.00173185063955313}, -5.58651971370719e-05, 0.00173185063955313},
{12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331, {12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331,
-0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05, -0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05,
-5.67352645830913e-05, 0.000232270832022029}, -5.67352645830913e-05, 0.000232270832022029},
@ -209,15 +155,15 @@ public:
{3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268, {3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268,
0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05, 0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05,
-2.61224817848938e-05, 6.00381132540332e-05}, -2.61224817848938e-05, 6.00381132540332e-05},
{29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232, -0.0474780142430845, {29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232,
0.0486755575785462, 0.000126295091963757, 0.000526632230895258, -0.000259305985126003, -0.0474780142430845, 0.0486755575785462, 0.000126295091963757, 0.000526632230895258,
0.000412751148048724}, -0.000259305985126003, 0.000412751148048724},
{2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753, {2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753,
-0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271, -0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271,
-8.47348746872376e-05, -1.92509604512729e-06}, -8.47348746872376e-05, -1.92509604512729e-06},
{-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815, 0.0887545371234514, {-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815,
-0.193862330062381, 0.000216532998121618, -0.00207707610520973, 0.000552928905346826, 0.0887545371234514, -0.193862330062381, 0.000216532998121618, -0.00207707610520973,
0.00190182163597828}}; 0.000552928905346826, 0.00190182163597828}};
float sus2coeffAlpha[9][10] = { float sus2coeffAlpha[9][10] = {
{6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588, {6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05, 0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
@ -228,18 +174,18 @@ public:
{-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258, {-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258,
0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709, 0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709,
-0.000586102213707195, 0.000658133691098817}, -0.000586102213707195, 0.000658133691098817},
{1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053, 0.00202677073171519, {1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053,
0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05, 3.93641210098335e-05, 0.00202677073171519, 0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05,
4.06398431916703e-05}, 3.93641210098335e-05, 4.06398431916703e-05},
{3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784, {3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784,
-0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589, -0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589,
0.000137876961532787, -0.000326798596746712}, 0.000137876961532787, -0.000326798596746712},
{6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201, {6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201,
0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06, 0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06,
7.25318569569788e-06, -2.5930447720704e-05}, 7.25318569569788e-06, -2.5930447720704e-05},
{191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846, -0.344226468125615, {191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846,
0.126267158197535, -0.00186612281541009, 0.00304415728817747, -0.00304958575196089, -0.344226468125615, 0.126267158197535, -0.00186612281541009, 0.00304415728817747,
0.000457236034569107}, -0.00304958575196089, 0.000457236034569107},
{5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849, {5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849,
-0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05, -0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05,
5.81988007269583e-05, 1.3723604109425e-05}, 5.81988007269583e-05, 1.3723604109425e-05},
@ -253,12 +199,12 @@ public:
{4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156, {4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156,
0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05, 0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05,
-5.49439160235527e-05, -8.30708110469922e-05}, -5.49439160235527e-05, -8.30708110469922e-05},
{64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773, -0.077990648565002, {64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773,
0.0613989204238974, 0.00055512113297293, -0.000347045533958329, 0.00104059576098392, -0.077990648565002, 0.0613989204238974, 0.00055512113297293, -0.000347045533958329,
-0.000348638726253297}, 0.00104059576098392, -0.000348638726253297},
{3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723, -0.0067958260462381, {3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723,
0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05, -5.55828531601728e-05, -0.0067958260462381, 0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05,
0.000109833374761172}, -5.55828531601728e-05, 0.000109833374761172},
{0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939, {0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939,
0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678, 0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678,
0.000292373398965513, 0.000183599033441813}, 0.000292373398965513, 0.000183599033441813},
@ -271,16 +217,16 @@ public:
{-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975, {-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975,
0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05, 0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05,
-7.47076172176468e-05, -1.94516917836346e-05}, -7.47076172176468e-05, -1.94516917836346e-05},
{-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197, -0.0380997421813177, {-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197,
-0.0581898335691109, 0.00111464935006159, 0.000559313074537689, 0.000168067749764069, -0.0380997421813177, -0.0581898335691109, 0.00111464935006159, 0.000559313074537689,
0.000563224178849256}}; 0.000168067749764069, 0.000563224178849256}};
float sus3coeffAlpha[9][10] = { float sus3coeffAlpha[9][10] = {
{-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986, -0.242523652239734, {-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986,
-0.202086838965846, -0.00138648793335223, -0.00225430176012882, -0.00198887215340364, -0.242523652239734, -0.202086838965846, -0.00138648793335223, -0.00225430176012882,
-0.00160678535160774}, -0.00198887215340364, -0.00160678535160774},
{6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017, 0.00894059238779664, {6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017,
-0.000436952529644, 0.000138070523903458, 9.22759645920339e-05, -9.4312261303588e-06, 0.00894059238779664, -0.000436952529644, 0.000138070523903458, 9.22759645920339e-05,
-1.76647897892869e-05}, -9.4312261303588e-06, -1.76647897892869e-05},
{-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327, {-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327,
0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969, 0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969,
-0.000436055839773919, -9.5869891049503e-05}, -0.000436055839773919, -9.5869891049503e-05},
@ -293,25 +239,25 @@ public:
{8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295, {8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295,
-0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05, -0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05,
7.80079707003333e-05, -8.95904360920744e-05}, 7.80079707003333e-05, -8.95904360920744e-05},
{-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278, 0.130143669167547, {-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278,
0.0284326533865768, 0.00149831261351137, -0.0011583692969717, 0.0010560778729661, 0.130143669167547, 0.0284326533865768, 0.00149831261351137, -0.0011583692969717,
0.000635404380970666}, 0.0010560778729661, 0.000635404380970666},
{3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041, {3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041,
-0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05, -0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05,
-3.54608413548779e-05, 8.54042677832451e-06}, -3.54608413548779e-05, 8.54042677832451e-06},
{78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499, 0.146629920899062, {78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499,
0.110698519952472, 6.64041537651749e-05, -0.00120174584530713, -0.00133177694921411, 0.146629920899062, 0.110698519952472, 6.64041537651749e-05, -0.00120174584530713,
-0.000796422644338886}}; -0.00133177694921411, -0.000796422644338886}};
float sus3coeffBeta[9][10] = { float sus3coeffBeta[9][10] = {
{-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957, -0.11257100034746, {-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957,
0.102120576206517, -0.000796645106694696, -0.00192211266325167, -4.99981232866237e-05, -0.11257100034746, 0.102120576206517, -0.000796645106694696, -0.00192211266325167,
0.00104036677004523}, -4.99981232866237e-05, 0.00104036677004523},
{-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119, {-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119,
0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05, 0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05,
-6.54571602919161e-05, -0.000104146832644606}, -6.54571602919161e-05, -0.000104146832644606},
{24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466, -0.0526971951753399, {24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466,
-0.0477053831942802, 0.000613806533422364, -0.000631628059238499, 0.00026217621127941, -0.0526971951753399, -0.0477053831942802, 0.000613806533422364, -0.000631628059238499,
0.000555307997961608}, 0.00026217621127941, 0.000555307997961608},
{0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142, {0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142,
-0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05, -0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05,
-7.1643235604579e-06, 0.000147876621100347}, -7.1643235604579e-06, 0.000147876621100347},
@ -321,25 +267,25 @@ public:
{-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05, {-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05,
0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06, 0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06,
-0.00014623717850039, 8.12219846932013e-06}, -0.00014623717850039, 8.12219846932013e-06},
{110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034, -0.142611297893517, {110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034,
-0.0141810186612052, -0.00275127095595919, 0.00160686698368569, -0.000872029428758877, -0.142611297893517, -0.0141810186612052, -0.00275127095595919, 0.00160686698368569,
-0.000410522437887563}, -0.000872029428758877, -0.000410522437887563},
{-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852, {-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852,
0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05, 0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05,
-5.87922606348196e-05, 2.56146268588382e-05}, -5.87922606348196e-05, 2.56146268588382e-05},
{44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562, 0.108087933176612, {44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562,
-0.116711715153385, -0.00194260120960441, -0.0015752762498594, -0.000331129410732722, 0.108087933176612, -0.116711715153385, -0.00194260120960441, -0.0015752762498594,
0.00125896996438418}}; -0.000331129410732722, 0.00125896996438418}};
float sus4coeffAlpha[9][10] = { float sus4coeffAlpha[9][10] = {
{-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283, {-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283,
-0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497, -0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497,
-9.79031907635314e-05, -1.49299384451257e-05}, -9.79031907635314e-05, -1.49299384451257e-05},
{8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676, 0.00879426079919981, {8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676,
-0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05, -3.56478452552367e-05, 0.00879426079919981, -0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05,
-1.65680920554434e-05}, -3.56478452552367e-05, -1.65680920554434e-05},
{16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303, 0.0183175817756131, {16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303,
-0.008545409848878, 0.000422696533006382, -0.000268245978898508, -0.000663188021815416, 0.0183175817756131, -0.008545409848878, 0.000422696533006382, -0.000268245978898508,
-7.51144017137827e-05}, -0.000663188021815416, -7.51144017137827e-05},
{0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128, {0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128,
0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05, 0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05,
5.03074365340535e-05, 8.40279146176271e-05}, 5.03074365340535e-05, 8.40279146176271e-05},
@ -355,9 +301,9 @@ public:
{6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045, {6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045,
-0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187, -0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187,
-3.3503088289589e-05, -1.03874407813931e-05}, -3.3503088289589e-05, -1.03874407813931e-05},
{102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996, 0.216574192561683, {102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996,
0.0750031215784663, -0.000147358932612646, -0.0023710703422108, -0.00143310719642393, 0.216574192561683, 0.0750031215784663, -0.000147358932612646, -0.0023710703422108,
-0.000431914403446768}}; -0.00143310719642393, -0.000431914403446768}};
float sus4coeffBeta[9][10] = { float sus4coeffBeta[9][10] = {
{-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659, {-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659,
-0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431, -0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431,
@ -371,15 +317,15 @@ public:
{19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458, {19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458,
-0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05, -0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05,
-1.22808643520768e-05, 0.000440555709696048}, -1.22808643520768e-05, 0.000440555709696048},
{2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271, 0.00148059212230411, {2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271,
0.000557885068990542, 0.000288633931072557, 0.000172775380291659, 0.000269738457990237, 0.00148059212230411, 0.000557885068990542, 0.000288633931072557, 0.000172775380291659,
0.000254577019084984}, 0.000269738457990237, 0.000254577019084984},
{2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743, {2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743,
0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05, 0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05,
-0.000156735218010879, 3.81458400945988e-05}, -0.000156735218010879, 3.81458400945988e-05},
{27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388, -0.0341141456915131, {27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388,
0.0281959785297513, -0.000252996164135396, 0.000163365679366542, -0.000380129463154642, -0.0341141456915131, 0.0281959785297513, -0.000252996164135396, 0.000163365679366542,
0.000159350154429114}, -0.000380129463154642, 0.000159350154429114},
{-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817, {-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817,
-0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05, -0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05,
-6.07188867796123e-05, 7.72199861279611e-06}, -6.07188867796123e-05, 7.72199861279611e-06},
@ -387,15 +333,15 @@ public:
-0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745, -0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745,
0.000698140692952438, 0.00123017528239406}}; 0.000698140692952438, 0.00123017528239406}};
float sus5coeffAlpha[9][10] = { float sus5coeffAlpha[9][10] = {
{-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049, -0.0309683799946315, {-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049,
-0.0562201123081437, 0.000522607299552916, -0.000375386573815007, -0.000183899715035788, -0.0309683799946315, -0.0562201123081437, 0.000522607299552916, -0.000375386573815007,
-0.000600349486293698}, -0.000183899715035788, -0.000600349486293698},
{4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035, 0.0108410181586673, {4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035,
-0.000272215427359511, 0.000124164068046579, 0.000125586897851351, -1.24082224214974e-05, 0.0108410181586673, -0.000272215427359511, 0.000124164068046579, 0.000125586897851351,
-1.63339067540159e-05}, -1.24082224214974e-05, -1.63339067540159e-05},
{63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374, -0.0652454854214506, {63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374,
-0.03906716801285, 0.00166924078925478, -0.000749939315526625, 0.000320696101132374, -0.0652454854214506, -0.03906716801285, 0.00166924078925478, -0.000749939315526625,
0.000499934751180042}, 0.000320696101132374, 0.000499934751180042},
{-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845, {-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845,
0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05, 0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05,
8.6123353128647e-05, 2.85447259858337e-05}, 8.6123353128647e-05, 2.85447259858337e-05},
@ -411,19 +357,19 @@ public:
{4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749, {4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749,
-0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06, -0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06,
-2.78503202185463e-05, 3.99983788680736e-06}, -2.78503202185463e-05, 3.99983788680736e-06},
{-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189, -0.0514805639475938, {-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189,
0.0503660452068572, 0.00072776817295273, 0.00120288537038655, -0.000301602375634166, -0.0514805639475938, 0.0503660452068572, 0.00072776817295273, 0.00120288537038655,
-0.000477098479809266}}; -0.000301602375634166, -0.000477098479809266}};
float sus5coeffBeta[9][10] = { float sus5coeffBeta[9][10] = {
{16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669, 0.0426379914736747, {16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669,
0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05, 0.000645497238623369, 0.0426379914736747, 0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05,
-0.000234155227840799}, 0.000645497238623369, -0.000234155227840799},
{9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363, 0.00581086655972212, {9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363,
-0.00365006277801141, 0.000180048140973223, 0.000102002650672644, -4.10833110241736e-05, 0.00581086655972212, -0.00365006277801141, 0.000180048140973223, 0.000102002650672644,
-8.7810396165556e-05}, -4.10833110241736e-05, -8.7810396165556e-05},
{-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292, 0.0288441527062856, {-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292,
-0.00322823115861497, -0.00148509910480755, 0.000284265179004289, -0.000175299737313045, 0.0288441527062856, -0.00322823115861497, -0.00148509910480755, 0.000284265179004289,
-7.04175618676909e-05}, -0.000175299737313045, -7.04175618676909e-05},
{3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265, {3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265,
-0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05, -0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05,
-8.33769024439277e-05, 6.90991113575066e-05}, -8.33769024439277e-05, 6.90991113575066e-05},
@ -439,19 +385,19 @@ public:
{0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805, {0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805,
-0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05, -0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05,
-7.89362487264572e-05, -1.0951496495443e-05}, -7.89362487264572e-05, -1.0951496495443e-05},
{-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539, -0.0542697403292778, {-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539,
0.0285360568428252, 0.000845084580479371, 0.00114184315411245, -0.000169538153750085, -0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
-0.000336529204350355}}; -0.000169538153750085, -0.000336529204350355}};
float sus6coeffAlpha[9][10] = { float sus6coeffAlpha[9][10] = {
{13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293, {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146, 0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
0.00091428505258307, 0.000259857066722932}, 0.00091428505258307, 0.000259857066722932},
{1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859, 0.00724950517167516, {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
-0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05, -1.06065583714065e-05, 0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-1.43899892666699e-05}, -1.06065583714065e-05, -1.43899892666699e-05},
{8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577, 0.0617635595955198, {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
0.0447491072679598, 0.00069998577106559, 0.00101018723225412, -4.88501228194031e-06, 0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-0.000434861113274231}, -4.88501228194031e-06, -0.000434861113274231},
{-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253, {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05, 0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
6.09619017310129e-05, 4.23908862836885e-05}, 6.09619017310129e-05, 4.23908862836885e-05},
@ -461,19 +407,19 @@ public:
{7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557, {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05, -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
9.13233708460098e-05, -0.000206717750924323}, 9.13233708460098e-05, -0.000206717750924323},
{16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216, -0.0219752092833362, {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
0.0236916776412211, -0.000350496453661261, -0.000123849795280597, -0.000532190902882765, -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
9.36018171121253e-05}, -0.000532190902882765, 9.36018171121253e-05},
{-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645, {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05, -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
1.02609175615251e-05, -9.64717658954667e-06}, 1.02609175615251e-05, -9.64717658954667e-06},
{-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358, -0.054845749101257, {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-0.133247382500001, -0.000688999201915199, 7.67286265747961e-05, 0.000868163357631254, -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
0.00120099606910313}}; 0.000868163357631254, 0.00120099606910313}};
float sus6coeffBeta[9][10] = { float sus6coeffBeta[9][10] = {
{12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917, 0.0444944768824276, {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05, 0.000821479971871302, 0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
-4.5330528329465e-05}, 0.000821479971871302, -4.5330528329465e-05},
{1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823, {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05, 0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-4.04514487800062e-05, -7.6296149087237e-05}, -4.04514487800062e-05, -7.6296149087237e-05},
@ -489,15 +435,15 @@ public:
{1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167, {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05, 0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-4.33518182614169e-05, 4.66993119419691e-05}, -4.33518182614169e-05, 4.66993119419691e-05},
{-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108, 0.0281230551050938, {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
-0.0217328869907185, 0.000241309440918385, -0.000116449585258429, 0.000401546410974577, 0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
-0.000147563886502726}, 0.000401546410974577, -0.000147563886502726},
{1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231, {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05, 0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-5.3309466243918e-05, 6.20289310356821e-06}, -5.3309466243918e-05, 6.20289310356821e-06},
{1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785, 0.0581479035315726, {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
-0.111361283351269, -0.00047845777495158, -0.00075354297736741, -0.000186887396585446, 0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
0.00119710704771344}}; -0.000186887396585446, 0.00119710704771344}};
float sus7coeffAlpha[9][10] = { float sus7coeffAlpha[9][10] = {
{-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523, {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
-0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283, -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
@ -505,12 +451,12 @@ public:
{1.60822506792345, 1.12993931449931, 0.300781032865641, -0.00405149856360946, {1.60822506792345, 1.12993931449931, 0.300781032865641, -0.00405149856360946,
0.0116663280665617, -0.000746071920075153, -8.36092173253351e-05, 0.000126762041147563, 0.0116663280665617, -0.000746071920075153, -8.36092173253351e-05, 0.000126762041147563,
-1.57820750462019e-05, -2.13840141586661e-05}, -1.57820750462019e-05, -2.13840141586661e-05},
{-151.403952985468, -5.77049222793992, 9.71132757422642, -0.113259116970462, 0.284142453949027, {-151.403952985468, -5.77049222793992, 9.71132757422642, -0.113259116970462,
-0.198625061659164, -0.000836450164210354, 0.00174062771509636, -0.00323746390757859, 0.284142453949027, -0.198625061659164, -0.000836450164210354, 0.00174062771509636,
0.00124721932086258}, -0.00323746390757859, 0.00124721932086258},
{3.47391964888809, 1.28788318973591, 0.358380140281919, 0.0033863520864927, 0.00154601909793475, {3.47391964888809, 1.28788318973591, 0.358380140281919, 0.0033863520864927,
0.0103457296050314, -9.56426572270873e-05, 5.48838958555808e-05, 2.97537427220847e-05, 0.00154601909793475, 0.0103457296050314, -9.56426572270873e-05, 5.48838958555808e-05,
0.000104735911514185}, 2.97537427220847e-05, 0.000104735911514185},
{3.32650947866065, 1.16701012685798, 0.293514063672376, -0.00065850791542434, {3.32650947866065, 1.16701012685798, 0.293514063672376, -0.00065850791542434,
-8.61746510464303e-05, -0.00212038990772211, 0.00010377123197, -0.000262818127593837, -8.61746510464303e-05, -0.00212038990772211, 0.00010377123197, -0.000262818127593837,
0.000103360882478383, -0.000296739688930329}, 0.000103360882478383, -0.000296739688930329},
@ -523,9 +469,9 @@ public:
{7.04862901290925, 0.876813777672465, 0.16368093989381, 0.00928717461441627, {7.04862901290925, 0.876813777672465, 0.16368093989381, 0.00928717461441627,
-0.00276538956293246, 0.00117995419940653, -0.000141511492474493, -6.09796031786385e-06, -0.00276538956293246, 0.00117995419940653, -0.000141511492474493, -6.09796031786385e-06,
-2.62114930414747e-05, -2.88713611443788e-06}, -2.62114930414747e-05, -2.88713611443788e-06},
{135.349147631811, -7.21933296299596, -6.02379024934871, 0.19557354282067, 0.207680233512614, {135.349147631811, -7.21933296299596, -6.02379024934871, 0.19557354282067,
0.12880101618361, -0.00169832076532024, -0.00192216719797732, -0.00188763612041332, 0.207680233512614, 0.12880101618361, -0.00169832076532024, -0.00192216719797732,
-0.00103101801961442}}; -0.00188763612041332, -0.00103101801961442}};
float sus7coeffBeta[9][10] = { float sus7coeffBeta[9][10] = {
{-12.7115487367622, -1.08890790360556, 0.0579616268854079, -0.0212303293514951, {-12.7115487367622, -1.08890790360556, 0.0579616268854079, -0.0212303293514951,
-0.0395948453851818, -0.0275564242614342, -0.000228652851842222, -0.000148106159109458, -0.0395948453851818, -0.0275564242614342, -0.000228652851842222, -0.000148106159109458,
@ -533,9 +479,9 @@ public:
{-0.988147625946871, -0.759018567468546, 1.20998292002818, -0.0241231836977845, {-0.988147625946871, -0.759018567468546, 1.20998292002818, -0.0241231836977845,
-0.000572110443300516, -0.00294835038249426, -0.00026533039022186, 6.82250069765274e-06, -0.000572110443300516, -0.00294835038249426, -0.00026533039022186, 6.82250069765274e-06,
7.21038415209318e-06, -6.54881435118179e-05}, 7.21038415209318e-06, -6.54881435118179e-05},
{98.0979345921564, 4.27381413621355, -4.39956005193548, 0.0709109587666745, -0.172774236139236, {98.0979345921564, 4.27381413621355, -4.39956005193548, 0.0709109587666745,
0.107243391488741, 0.000421832640471043, -0.00140450884710288, 0.00158019019392239, -0.172774236139236, 0.107243391488741, 0.000421832640471043, -0.00140450884710288,
-0.00078512547169536}, 0.00158019019392239, -0.00078512547169536},
{4.10892685652543, -0.229301778557857, 1.33380992987117, -0.000250095848720304, {4.10892685652543, -0.229301778557857, 1.33380992987117, -0.000250095848720304,
-0.00555205065514645, 0.00355052914398176, 1.62727119770752e-05, -1.26026527654764e-05, -0.00555205065514645, 0.00355052914398176, 1.62727119770752e-05, -1.26026527654764e-05,
-3.25505031810898e-05, 5.79970895921158e-06}, -3.25505031810898e-05, 5.79970895921158e-06},
@ -545,25 +491,25 @@ public:
{8.92336134924575, -0.197306981784312, 0.659908505354084, 0.00175572239373996, {8.92336134924575, -0.197306981784312, 0.659908505354084, 0.00175572239373996,
0.006801023678097, 0.0189775987436792, 9.2187857727721e-06, -4.8706332690626e-05, 0.006801023678097, 0.0189775987436792, 9.2187857727721e-06, -4.8706332690626e-05,
-6.887009887486e-05, -0.000266455617735054}, -6.887009887486e-05, -0.000266455617735054},
{-52.0734887320227, 2.64822385560272, -1.72387600304694, -0.0383944891609251, 0.110873671161269, {-52.0734887320227, 2.64822385560272, -1.72387600304694, -0.0383944891609251,
-0.0475247245070445, 0.000194652401328063, -0.000697307928990137, 0.00124021816001, 0.110873671161269, -0.0475247245070445, 0.000194652401328063, -0.000697307928990137,
-0.000194213899980878}, 0.00124021816001, -0.000194213899980878},
{2.08203985879155, -0.127503525368396, 1.17628056094647, 0.00283288065938444, {2.08203985879155, -0.127503525368396, 1.17628056094647, 0.00283288065938444,
0.00394668214608305, 0.00314868636161131, -2.99504350569853e-05, -7.11070816314279e-05, 0.00394668214608305, 0.00314868636161131, -2.99504350569853e-05, -7.11070816314279e-05,
-6.30148122529749e-05, 2.28114298989664e-05}, -6.30148122529749e-05, 2.28114298989664e-05},
{191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644, 0.331529493933124, {191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644,
0.149867703984027, -0.00222279201444128, -0.00284724570619954, -0.00298774060233964, 0.331529493933124, 0.149867703984027, -0.00222279201444128, -0.00284724570619954,
-0.000988903783752156}}; -0.00298774060233964, -0.000988903783752156}};
float sus8coeffAlpha[9][10] = { float sus8coeffAlpha[9][10] = {
{5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431, {5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431,
-0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058, -0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058,
0.000198938007250408, 0.000102026690279006}, 0.000198938007250408, 0.000102026690279006},
{8.8976133108173, 1.89502416095352, 0.268670471819199, 0.0217013413241972, 0.00973925295182384, {8.8976133108173, 1.89502416095352, 0.268670471819199, 0.0217013413241972,
-0.00116357269193765, 0.000185865842232419, 0.000103311614912702, -2.46539447920969e-05, 0.00973925295182384, -0.00116357269193765, 0.000185865842232419, 0.000103311614912702,
-2.06292928734686e-05}, -2.46539447920969e-05, -2.06292928734686e-05},
{-45.4550803910752, 1.27220123406993, 5.21483855848504, 0.0315791081623634, 0.0725172355124129, {-45.4550803910752, 1.27220123406993, 5.21483855848504, 0.0315791081623634,
-0.13947591535243, 0.000412577580637848, 0.000434545096994917, -0.000840043932292312, 0.0725172355124129, -0.13947591535243, 0.000412577580637848, 0.000434545096994917,
0.00126857487044307}, -0.000840043932292312, 0.00126857487044307},
{1.81302768546433, 1.20563501267535, 0.344815267182167, 0.00546879453241056, {1.81302768546433, 1.20563501267535, 0.344815267182167, 0.00546879453241056,
-0.00115382996865884, 0.010597876132341, -7.75885604486581e-05, 8.99568815949154e-05, -0.00115382996865884, 0.010597876132341, -7.75885604486581e-05, 8.99568815949154e-05,
-2.98129544974679e-06, 0.000108913239345604}, -2.98129544974679e-06, 0.000108913239345604},
@ -579,19 +525,19 @@ public:
{0.867614491733251, 1.38248194737027, 0.233408537422123, -0.00772942878114575, {0.867614491733251, 1.38248194737027, 0.233408537422123, -0.00772942878114575,
-0.00783126068079782, -0.000413713955432221, 4.5775750146291e-05, 6.97323029940275e-05, -0.00783126068079782, -0.000413713955432221, 4.5775750146291e-05, 6.97323029940275e-05,
1.70664456940787e-05, 6.75517901233086e-06}, 1.70664456940787e-05, 6.75517901233086e-06},
{2.34474364146174, -0.777275400251477, 2.09531381577911, 0.0170780716714389, 0.102855060371092, {2.34474364146174, -0.777275400251477, 2.09531381577911, 0.0170780716714389,
-0.1203441505925, 0.000187004964420911, -0.00141720441050986, -0.000336251285258365, 0.102855060371092, -0.1203441505925, 0.000187004964420911, -0.00141720441050986,
0.00145175125888695}}; -0.000336251285258365, 0.00145175125888695}};
float sus8coeffBeta[9][10] = { float sus8coeffBeta[9][10] = {
{28.3033101237397, 1.77504446792811, 1.70758838986317, 0.0307800697044683, 0.0598759344275936, {28.3033101237397, 1.77504446792811, 1.70758838986317, 0.0307800697044683,
-0.014461432284373, 0.000128415617799076, 0.000664419128546701, 0.000312923304130995, 0.0598759344275936, -0.014461432284373, 0.000128415617799076, 0.000664419128546701,
-0.000269026446641855}, 0.000312923304130995, -0.000269026446641855},
{7.73040563051023, 0.0267291479555493, 1.16189582308493, 0.000611047892976521, {7.73040563051023, 0.0267291479555493, 1.16189582308493, 0.000611047892976521,
-0.00213680506915073, -0.00517435586596902, -3.60304406049766e-06, -1.74452976404459e-05, -0.00213680506915073, -0.00517435586596902, -3.60304406049766e-06, -1.74452976404459e-05,
-3.95396925228538e-05, -7.01948519410633e-05}, -3.95396925228538e-05, -7.01948519410633e-05},
{-48.0766126130725, -3.77981206700298, 3.03482861087335, -0.0678496412519532, 0.115260678424016, {-48.0766126130725, -3.77981206700298, 3.03482861087335, -0.0678496412519532,
-0.0109681510065038, -0.000438011443691466, 0.00097230136258486, -0.000930875177732769, 0.115260678424016, -0.0109681510065038, -0.000438011443691466, 0.00097230136258486,
-0.000203144239955507}, -0.000930875177732769, -0.000203144239955507},
{12.1881935626341, -0.234345089308583, 2.01134619426134, 0.000181529284001169, {12.1881935626341, -0.234345089308583, 2.01134619426134, 0.000181529284001169,
-0.00642848065105061, 0.0243985799415726, 2.0224042581776e-05, 5.22503286757285e-06, -0.00642848065105061, 0.0243985799415726, 2.0224042581776e-05, 5.22503286757285e-06,
-4.75196303016323e-05, 0.000221160482364556}, -4.75196303016323e-05, 0.000221160482364556},
@ -601,43 +547,43 @@ public:
{9.36663996178607, -0.171266136751803, 0.799869891484541, -0.000896305696610864, {9.36663996178607, -0.171266136751803, 0.799869891484541, -0.000896305696610864,
0.00477919972789653, 0.0077876110326094, 9.16475263625076e-06, 3.02461250100473e-05, 0.00477919972789653, 0.0077876110326094, 9.16475263625076e-06, 3.02461250100473e-05,
-3.63917701783264e-05, -0.000101376940843402}, -3.63917701783264e-05, -0.000101376940843402},
{9.93372683055145, 1.02056557854246, 3.01635426591734, -0.0477113881140277, -0.0280426434406976, {9.93372683055145, 1.02056557854246, 3.01635426591734, -0.0477113881140277,
0.0438813017696874, 0.000470431190169998, -7.55753674679743e-05, -0.000516444906323815, -0.0280426434406976, 0.0438813017696874, 0.000470431190169998, -7.55753674679743e-05,
0.000253844418223843}, -0.000516444906323815, 0.000253844418223843},
{4.12868774589741, -0.305711790187688, 1.15739216407191, 0.00942395115281056, {4.12868774589741, -0.305711790187688, 1.15739216407191, 0.00942395115281056,
0.00264758462357433, 0.00227985850688479, -0.000107537164019682, -4.91396736189963e-05, 0.00264758462357433, 0.00227985850688479, -0.000107537164019682, -4.91396736189963e-05,
-5.3803493814502e-05, 6.80587059728718e-06}, -5.3803493814502e-05, 6.80587059728718e-06},
{64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591, 0.0898786950946473, {64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591,
0.128910456296131, -8.27123227422217e-05, -0.000143979624107479, -0.00146684876653306, 0.0898786950946473, 0.128910456296131, -8.27123227422217e-05, -0.000143979624107479,
-0.00102226799570239}}; -0.00146684876653306, -0.00102226799570239}};
float sus9coeffAlpha[9][10] = { float sus9coeffAlpha[9][10] = {
{65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703, 0.119985456538482, {65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703,
0.142746712551924, -0.000465882328687976, 0.000606525132125852, 0.00141667074621881, 0.119985456538482, 0.142746712551924, -0.000465882328687976, 0.000606525132125852,
0.00109715845894006}, 0.00141667074621881, 0.00109715845894006},
{5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426, 0.00973291465247784, {5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426,
-0.00155675297510773, 0.000147099297988423, 0.000115708967219349, -4.1462310493722e-05, 0.00973291465247784, -0.00155675297510773, 0.000147099297988423, 0.000115708967219349,
-9.80097031103588e-06}, -4.1462310493722e-05, -9.80097031103588e-06},
{138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519, -0.143071750033303, {138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519,
0.237868300719915, 0.000626693630444932, -0.000579788170871402, 0.00181740650944343, -0.143071750033303, 0.237868300719915, 0.000626693630444932, -0.000579788170871402,
-0.00207086879728281}, 0.00181740650944343, -0.00207086879728281},
{-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038, {-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038,
0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05, 0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05,
6.3416992450033e-05, -0.000190177262510221}, 6.3416992450033e-05, -0.000190177262510221},
{0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05, {0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05,
0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716, 0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716,
7.71348293209208e-05, -0.000393885990364776}, 7.71348293209208e-05, -0.000393885990364776},
{4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428, 0.0030051503726095, {4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428,
0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05, -4.43545804544095e-05, 0.0030051503726095, 0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05,
-4.83524454851519e-05}, -4.43545804544095e-05, -4.83524454851519e-05},
{99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933, -0.15701634159692, {99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933,
0.107834711298836, -0.000885326636237814, 0.000960753844480462, -0.00179894024848343, -0.15701634159692, 0.107834711298836, -0.000885326636237814, 0.000960753844480462,
0.000583066757644971}, -0.00179894024848343, 0.000583066757644971},
{2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662, {2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662,
-0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05, -0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05,
-4.15108111710131e-06, 1.33520085213482e-05}, -4.15108111710131e-06, 1.33520085213482e-05},
{36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879, 0.060573568610239, {36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879,
0.0182582125221054, -0.000244373383911157, -0.000271385147292484, -0.000723799969427732, 0.060573568610239, 0.0182582125221054, -0.000244373383911157, -0.000271385147292484,
6.76324880239196e-05}}; -0.000723799969427732, 6.76324880239196e-05}};
float sus9coeffBeta[9][10] = { float sus9coeffBeta[9][10] = {
{128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636, {128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636,
0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017, 0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017,
@ -663,9 +609,9 @@ public:
{-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792, {-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792,
0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05, 0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05,
-0.000107500091550635, -5.1379722947632e-07}, -0.000107500091550635, -5.1379722947632e-07},
{-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584, -0.0625549615377418, {-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584,
0.019178365782485, 0.000664877496455304, 0.000942971403881222, 0.000190754698755098, -0.0625549615377418, 0.019178365782485, 0.000664877496455304, 0.000942971403881222,
-0.000372226659190439}}; 0.000190754698755098, -0.000372226659190439}};
float sus10coeffAlpha[9][10] = { float sus10coeffAlpha[9][10] = {
{14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299, {14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965, 0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
@ -673,9 +619,9 @@ public:
{-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316, {-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316,
0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05, 0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05,
-3.13338277344246e-05, 5.32977236959767e-06}, -3.13338277344246e-05, 5.32977236959767e-06},
{30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413, -0.0553588742704929, {30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413,
0.0299275582316466, 0.000167915322354466, -0.00050925078118232, 0.000463662961330962, -0.0553588742704929, 0.0299275582316466, 0.000167915322354466, -0.00050925078118232,
-0.000232919143454163}, 0.000463662961330962, -0.000232919143454163},
{2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675, {2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675,
0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05, 0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05,
6.4669137025142e-05, 0.000209727581169138}, 6.4669137025142e-05, 0.000209727581169138},
@ -685,25 +631,25 @@ public:
{7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199, {7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199,
-0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05, -0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05,
8.85844309936609e-05, -0.000143217870916994}, 8.85844309936609e-05, -0.000143217870916994},
{-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416, 0.0385056413989437, {-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416,
-0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05, 0.000514049116643205, 0.0385056413989437, -0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05,
0.000112015427600697}, 0.000514049116643205, 0.000112015427600697},
{-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885, {-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885,
-0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05, -0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05,
-7.55982776243849e-06, 2.78417756661088e-06}, -7.55982776243849e-06, 2.78417756661088e-06},
{-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327, -0.0193152048730234, {-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327,
-0.0600902798379509, 0.00031786916010672, 0.000162178988605602, 0.000224550786416246, -0.0193152048730234, -0.0600902798379509, 0.00031786916010672, 0.000162178988605602,
0.000614337977361927}}; 0.000224550786416246, 0.000614337977361927}};
float sus10coeffBeta[9][10] = { float sus10coeffBeta[9][10] = {
{12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043, 0.0220810531548995, {12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043,
-0.0220926906772, 0.000310052324529521, 0.000658151808869523, -0.000288026365111098, 0.0220810531548995, -0.0220926906772, 0.000310052324529521, 0.000658151808869523,
-0.000214619731807045}, -0.000288026365111098, -0.000214619731807045},
{-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075, {-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075,
0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05, 0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05,
-5.4550919751855e-05, -8.6314530565085e-05}, -5.4550919751855e-05, -8.6314530565085e-05},
{-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321, 0.090326735447661, {-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321,
-0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509, -0.000956171370931993, 0.090326735447661, -0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509,
0.000491554402311223}, -0.000956171370931993, 0.000491554402311223},
{-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089, {-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089,
-0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05, -0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05,
-4.85061736834262e-05, -1.8387092782907e-06}, -4.85061736834262e-05, -1.8387092782907e-06},
@ -713,9 +659,9 @@ public:
{-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669, {-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669,
0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06, 0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06,
-5.41141037812903e-05, 8.50767021818388e-06}, -5.41141037812903e-05, 8.50767021818388e-06},
{58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612, -0.112195722921667, {58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612,
0.0890150265857542, -0.000100675657768708, 0.000493488022135339, -0.00137672908303878, -0.112195722921667, 0.0890150265857542, -0.000100675657768708, 0.000493488022135339,
0.000518683157694955}, -0.00137672908303878, 0.000518683157694955},
{3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344, {3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344,
0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05, 0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05,
-6.07871064300252e-05, 1.91822310311955e-05}, -6.07871064300252e-05, 1.91822310311955e-05},
@ -729,9 +675,9 @@ public:
{-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314, {-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314,
0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439, 0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439,
1.89380065823205e-05, 1.83481122973969e-07}, 1.89380065823205e-05, 1.83481122973969e-07},
{-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062, 0.227153492753605, {-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062,
0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792, -0.00247865821192621, 0.227153492753605, 0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792,
-0.00166333309739387}, -0.00247865821192621, -0.00166333309739387},
{-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732, {-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732,
0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05, 0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05,
0.000127251739461239, 3.26943341606363e-05}, 0.000127251739461239, 3.26943341606363e-05},
@ -741,25 +687,25 @@ public:
{-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109, {-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109,
-0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05, -0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05,
0.000146570207542509, 0.000201596912834554}, 0.000146570207542509, 0.000201596912834554},
{-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635, 0.047897938410221, {-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635,
-0.0355687158405231, 0.000374738707508583, -0.000448453494537518, 0.000377784972619365, 0.047897938410221, -0.0355687158405231, 0.000374738707508583, -0.000448453494537518,
-0.000276573228333836}, 0.000377784972619365, -0.000276573228333836},
{-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855, {-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855,
-0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05, -0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05,
7.75581514100296e-05, -9.25934285039627e-06}, 7.75581514100296e-05, -9.25934285039627e-06},
{183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303, 0.314006821405967, {183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303,
0.200264755034566, -0.0011895153717447, -0.00253812476819896, -0.00291324393641628, 0.314006821405967, 0.200264755034566, -0.0011895153717447, -0.00253812476819896,
-0.00140062522117514}}; -0.00291324393641628, -0.00140062522117514}};
float sus11coeffBeta[9][10] = { float sus11coeffBeta[9][10] = {
{34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433, 0.0562461093661426, {34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433,
0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05, 0.00102633196865105, 0.0562461093661426, 0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05,
0.000552974013759876}, 0.00102633196865105, 0.000552974013759876},
{7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871, 0.00163731860604376, {7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871,
-0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05, -4.27874746147066e-05, 0.00163731860604376, -0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05,
-8.77418673597557e-05}, -4.27874746147066e-05, -8.77418673597557e-05},
{130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681, -0.188837138116058, {130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681,
0.346177462085361, -0.000183276946352264, -0.000702183496893294, 0.00293145272693857, -0.188837138116058, 0.346177462085361, -0.000183276946352264, -0.000702183496893294,
-0.00318194442670715}, 0.00293145272693857, -0.00318194442670715},
{-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05, {-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05,
-0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06, -0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06,
-0.000156596507890443, -0.000123254220377897}, -0.000156596507890443, -0.000123254220377897},
@ -775,19 +721,20 @@ public:
{1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305, {1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305,
-0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05, -0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05,
-6.74778593434431e-05, -2.81973589469059e-05}, -6.74778593434431e-05, -2.81973589469059e-05},
{116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136, 0.167666815691513, {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
0.163137400730063, -0.000609874123906977, -0.00205336098697513, -0.000889232196185857, 0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
-0.00168429567131815}}; -0.000889232196185857, -0.00168429567131815}};
float filterAlpha; float filterAlpha;
float sunThresh; float sunThresh;
} susHandlingParameters; } susHandlingParameters;
struct RmuHandlingParameters { struct GyrHandlingParameters {
double rmu0orientationMatrix[3][3]; double gyr0orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double rmu1orientationMatrix[3][3]; double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double rmu2orientationMatrix[3][3]; double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
} rmuHandlingParameters; double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
} gyrHandlingParameters;
struct RwHandlingParameters { struct RwHandlingParameters {
double rw0orientationMatrix[3][3]; double rw0orientationMatrix[3][3];
@ -799,12 +746,10 @@ public:
} rwHandlingParameters; } rwHandlingParameters;
struct RwMatrices { struct RwMatrices {
double alignmentMatrix[3][4] = { double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
{ 0.9205, 0.0000, -0.9205, 0.0000},
{0.0000, -0.9205, 0.0000, 0.9205}, {0.0000, -0.9205, 0.0000, 0.9205},
{0.3907, 0.3907, 0.3907, 0.3907}}; {0.3907, 0.3907, 0.3907, 0.3907}};
double pseudoInverse[4][3] = { double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
{ 0.4434, -0.2845, 0.3597},
{0.2136, -0.3317, 1.0123}, {0.2136, -0.3317, 1.0123},
{-0.8672, -0.1406, 0.1778}, {-0.8672, -0.1406, 0.1778},
{0.6426, 0.4794, 1.3603}}; {0.6426, 0.4794, 1.3603}};
@ -829,7 +774,6 @@ public:
} safeModeControllerParameters; } safeModeControllerParameters;
struct DetumbleCtrlParameters { struct DetumbleCtrlParameters {
double gainD = pow(10.0, -3.3); double gainD = pow(10.0, -3.3);
} detumbleCtrlParameters; } detumbleCtrlParameters;
@ -861,10 +805,7 @@ public:
double omegaEarth = 0.000072921158553; double omegaEarth = 0.000072921158553;
} inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
} inertialModeControllerParameters, nadirModeControllerParameters,
targetModeControllerParameters;
struct StrParameters { struct StrParameters {
double exclusionAngle = 20 * M_PI / 180; double exclusionAngle = 20 * M_PI / 180;
@ -884,9 +825,7 @@ public:
} groundStationParameters; // Stuttgart } groundStationParameters; // Stuttgart
struct SunModelParameters { struct SunModelParameters {
enum UseSunModel { enum UseSunModel { NO = 0, YES = 3 };
NO = 0, YES = 3
};
uint8_t useSunModel; uint8_t useSunModel;
float domega = 36000.771; float domega = 36000.771;
float omega_0 = 282.94 * M_PI / 180.; // RAAN plus argument of perigee float omega_0 = 282.94 * M_PI / 180.; // RAAN plus argument of perigee
@ -916,33 +855,16 @@ public:
} kalmanFilterParameters; } kalmanFilterParameters;
struct MagnetorquesParameter { struct MagnetorquesParameter {
double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
double mtq0orientationMatrix[3][3] = { double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
{ 1, 0, 0}, double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
{ 0, 0, 1}, double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
{ 0,-1, 0}}; double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double mtq1orientationMatrix[3][3] = {
{ 1, 0, 0},
{ 0, 1, 0},
{ 0, 0, 1}};
double mtq2orientationMatrix[3][3] = {
{ 0, 0, 1},
{ 0, 1, 0},
{-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
double inverseAlignment[3][3] = {
{ 0,-1, 0},
{ 0, 0, 1},
{-1, 0, 0}};
double DipolMax = 0.2; // [Am^2] double DipolMax = 0.2; // [Am^2]
} magnetorquesParameter; } magnetorquesParameter;
struct DetumbleParameter { struct DetumbleParameter {
uint8_t detumblecounter; uint8_t detumblecounter;
double omegaDetumbleStart; double omegaDetumbleStart;
double omegaDetumbleEnd; double omegaDetumbleEnd;