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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 +2963 -3880
114 changed files with 2963 additions and 3880 deletions
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mission/controller/acs/control/Detumble.cpp
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@@ -48,20 +48,17 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateVal
magMom[i] = -dipolMax * sign(magRate[i]); magMom[i] = -dipolMax * sign(magRate[i]);
} }
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid, ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
const double *magField, const bool *magFieldValid, const double *magField, const bool *magFieldValid,
double *magMom) { double *magMom) {
if (!satRateValid || !magFieldValid) {
if (!satRateValid || !magFieldValid) { return DETUMBLE_NO_SENSORDATA;
return DETUMBLE_NO_SENSORDATA; }
} double gain = detumbleParameter->gainD;
double gain = detumbleParameter->gainD; double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
double factor = -gain / pow(VectorOperations<double>::norm(magField,3),2); VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
VectorOperations<double>::mulScalar(satRate, factor, magMom, 3); return returnvalue::OK;
return returnvalue::OK;
} }