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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 +18
2 changed files with 18 additions and 0 deletions
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14
mission/controller/acs/control/Detumble.cpp
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@ -63,3 +63,17 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool *magRateVa
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
const double *magField, const bool *magFieldValid,
double *magMom) {
if (!satRateValid || !magFieldValid) {
return DETUMBLE_NO_SENSORDATA;
}
double gain = detumbleCtrlParameters->gainD;
double factor = -gain / pow(VectorOperations<double>::norm(magField,3),2);
VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
return returnvalue::OK;
}

4
mission/controller/acs/control/Detumble.h
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@ -38,6 +38,10 @@ public:
ReturnValue_t bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom); ReturnValue_t bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom);
ReturnValue_t bDotLawGyro(const double *satRate, const bool *satRateValid,
const double *magField, const bool *magFieldValid,
double *magMom);
private: private:
AcsParameters::DetumbleCtrlParameters* detumbleCtrlParameters; AcsParameters::DetumbleCtrlParameters* detumbleCtrlParameters;
AcsParameters::MagnetorquesParameter* magnetorquesParameter; AcsParameters::MagnetorquesParameter* magnetorquesParameter;