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Final Version of the ACS Controller #367

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muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
Conversation 1 Commits 78 Files Changed 27 +14 -9
2 changed files with 14 additions and 9 deletions
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20
mission/controller/acs/Guidance.cpp
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@ -13,6 +13,8 @@
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
#include <filesystem>
#include "string.h"
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
@ -22,16 +24,16 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParamete
Guidance::~Guidance() {}
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
for (int i = 0; i < 3; i++) {
if (false) { // ToDo: if file does not exist anymore
sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
} else {
sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDirLeop[i];
}
satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) { // ToDo: if file does not exist anymore
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
3 * sizeof(double));
} else {
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
3 * sizeof(double));
}
// memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
3 * sizeof(double));
}
void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,

3
mission/controller/acs/Guidance.h
View File

@ -73,6 +73,9 @@ class Guidance {
timeval timeSavedQuaternionNadir;
double savedQuaternionNadir[4] = {0, 0, 0, 0};
double omegaRefSavedNadir[3] = {0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
};
#endif /* ACS_GUIDANCE_H_ */