eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 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 +53 -40
1 changed files with 53 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit cc82b8aa42 - Show all commits

41
mission/controller/acs/AcsParameters.cpp
View File

@ -8,35 +8,43 @@ AcsParameters::AcsParameters() {
onBoardParams.sampleTime = 0.1;
inertiaEIVE.inertiaMatrix = {{ 1.0, 0.0, 0.0},
inertiaEIVE.inertiaMatrix = {
{ 1.0, 0.0, 0.0},
{ 0.0, 1.0, 0.0},
{ 0.0, 0.5, 1.0}};
mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
mgmHandlingParameters.mgm0orientationMatrix = {
{ 0, 0,-1},
{ 0, 1, 0},
{ 1, 0, 0}};
/*mgmHandlingParameters.mgm1orientationMatrix = {{ 0, 0, 1},
mgmHandlingParameters.mgm1orientationMatrix = {
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm2orientationMatrix = {{ 0, 0,-1},
mgmHandlingParameters.mgm2orientationMatrix = {
{ 0, 0,-1},
{ 0, 1, 0},
{ 1 ,0, 0}};
mgmHandlingParameters.mgm3orientationMatrix = {{ 0, 0, 1},
mgmHandlingParameters.mgm3orientationMatrix = {
{ 0, 0, 1},
{ 0,-1, 0},
{ 1, 0, 0}};
mgmHandlingParameters.mgm4orientationMatrix = {{ 0, 0,-1},
mgmHandlingParameters.mgm4orientationMatrix = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};*/
{ 0, 1, 0}};
rwHandlingParameters.inertiaWheel = 0.000028198;
rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
//Geometry frame
rwMatrices.alignmentMatrix = {{ 0.9205, 0.0000, -0.9205, 0.0000},
rwMatrices.alignmentMatrix = {
{ 0.9205, 0.0000, -0.9205, 0.0000},
{ 0.0000, -0.9205, 0.0000, 0.9205},
{ 0.3907, 0.3907, 0.3907, 0.3907}};
rwMatrices.pseudoInverse = {{ 0.4434, -0.2845, 0.3597},
rwMatrices.pseudoInverse = {
{ 0.4434, -0.2845, 0.3597},
{ 0.2136, -0.3317, 1.0123},
{ -0.8672, -0.1406, 0.1778},
{ 0.6426, 0.4794, 1.3603}};
@ -96,19 +104,24 @@ AcsParameters::AcsParameters() {
strParameters.boresightAxis = { 0.7593, 0,-0.6508};
strParameters.exclusionAngle = 20 * Math::PI /180;
magnetorquesParameter.mtq0orientationMatrix = {{ 1, 0, 0},
magnetorquesParameter.mtq0orientationMatrix = {
{ 1, 0, 0},
{ 0, 0, 1},
{ 0,-1, 0}};
magnetorquesParameter.mtq1orientationMatrix = {{ 1, 0, 0},
magnetorquesParameter.mtq1orientationMatrix = {
{ 1, 0, 0},
{ 0, 1, 0},
{ 0, 0, 1}};
magnetorquesParameter.mtq2orientationMatrix = {{ 0, 0, 1},
magnetorquesParameter.mtq2orientationMatrix = {
{ 0, 0, 1},
{ 0, 1, 0},
{-1, 0, 0}};
magnetorquesParameter.alignmentMatrixMtq = {{ 0, 0,-1},
magnetorquesParameter.alignmentMatrixMtq = {
{ 0, 0,-1},
{-1, 0, 0},
{ 0, 1, 0}};
magnetorquesParameter.inverseAlignment = {{ 0,-1, 0},
magnetorquesParameter.inverseAlignment = {
{ 0,-1, 0},
{ 0, 0, 1},
{-1, 0, 0}};
magnetorquesParameter.DipolMax = 0.2;