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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 +3838 -5188
135 changed files with 3838 additions and 5188 deletions
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mission/controller/AcsController.cpp
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@ -275,44 +275,32 @@ void AcsController::performControlOperation() {
case SUBMODE_IDLE: case SUBMODE_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now, guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate); targetQuat, refSatRate);
for ( uint8_t i = 0; i < 4; i++ ) { std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
quatRef[i] = acsParameters.targetModeControllerParameters.quatRef[i];
}
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
case SUBMODE_PTG_TARGET: case SUBMODE_PTG_TARGET:
guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now,
targetQuat, refSatRate); targetQuat, refSatRate);
for ( uint8_t i = 0; i < 4; i++ ) { std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
quatRef[i] = acsParameters.targetModeControllerParameters.quatRef[i];
}
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
case SUBMODE_PTG_TARGET_GS: case SUBMODE_PTG_TARGET_GS:
guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed,
now, targetQuat, refSatRate); now, targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
for ( uint8_t i = 0; i < 4; i++ ) {
quatRef[i] = acsParameters.targetModeControllerParameters.quatRef[i];
}
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
case SUBMODE_PTG_NADIR: case SUBMODE_PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat, guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate); refSatRate);
for ( uint8_t i = 0; i < 4; i++ ) { std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
quatRef[i] = acsParameters.nadirModeControllerParameters.quatRef[i];
}
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break; break;
case SUBMODE_PTG_INERTIAL: case SUBMODE_PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate); guidance.inertialQuatPtg(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef, 4 * sizeof(double));
for ( uint8_t i = 0; i < 4; i++ ) {
quatRef[i] = acsParameters.inertialModeControllerParameters.quatRef[i];
}
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
} }