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ACS Ctrl Bug Bash #439

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muellerr merged 42 commits from acs-bug-bash into develop 2023-03-10 19:21:19 +01:00
Conversation 0 Commits 42 Files Changed 23 +13 -13
4 changed files with 13 additions and 13 deletions
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14
mission/controller/acs/AcsParameters.cpp
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@ -658,25 +658,25 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case (0x12): // MagnetorquesParameter case (0x12): // MagnetorquesParameter
switch (parameterId) { switch (parameterId) {
case 0x0: case 0x0:
parameterWrapper->setMatrix(magnetorquesParameter.mtq0orientationMatrix); parameterWrapper->setMatrix(magnetorquerParameter.mtq0orientationMatrix);
break; break;
case 0x1: case 0x1:
parameterWrapper->setMatrix(magnetorquesParameter.mtq1orientationMatrix); parameterWrapper->setMatrix(magnetorquerParameter.mtq1orientationMatrix);
break; break;
case 0x2: case 0x2:
parameterWrapper->setMatrix(magnetorquesParameter.mtq2orientationMatrix); parameterWrapper->setMatrix(magnetorquerParameter.mtq2orientationMatrix);
break; break;
case 0x3: case 0x3:
parameterWrapper->setMatrix(magnetorquesParameter.alignmentMatrixMtq); parameterWrapper->setMatrix(magnetorquerParameter.alignmentMatrixMtq);
break; break;
case 0x4: case 0x4:
parameterWrapper->setMatrix(magnetorquesParameter.inverseAlignment); parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment);
break; break;
case 0x5: case 0x5:
parameterWrapper->set(magnetorquesParameter.DipolMax); parameterWrapper->set(magnetorquerParameter.dipolMax);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(magnetorquesParameter.torqueDuration); parameterWrapper->set(magnetorquerParameter.torqueDuration);
break; break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;

6
mission/controller/acs/AcsParameters.h
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@ -912,16 +912,16 @@ class AcsParameters : public HasParametersIF {
double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability
} kalmanFilterParameters; } kalmanFilterParameters;
struct MagnetorquesParameter { struct MagnetorquerParameter {
double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}}; double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}}; double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}}; double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}}; double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
double DipolMax = 0.2; // [Am^2] double dipolMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms] uint16_t torqueDuration = 300; // [ms]
} magnetorquesParameter; } magnetorquerParameter;
struct DetumbleParameter { struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s uint8_t detumblecounter = 75; // 30 s

4
mission/controller/acs/control/Detumble.cpp
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@ -23,7 +23,7 @@ Detumble::~Detumble() {}
void Detumble::loadAcsParameters(AcsParameters *acsParameters_) { void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
detumbleParameter = &(acsParameters_->detumbleParameter); detumbleParameter = &(acsParameters_->detumbleParameter);
magnetorquesParameter = &(acsParameters_->magnetorquesParameter); magnetorquesParameter = &(acsParameters_->magnetorquerParameter);
} }
ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid, ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
@ -43,7 +43,7 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateVal
return DETUMBLE_NO_SENSORDATA; return DETUMBLE_NO_SENSORDATA;
} }
double dipolMax = magnetorquesParameter->DipolMax; double dipolMax = magnetorquesParameter->dipolMax;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
magMom[i] = -dipolMax * sign(magRate[i]); magMom[i] = -dipolMax * sign(magRate[i]);
} }

2
mission/controller/acs/control/Detumble.h
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@ -35,7 +35,7 @@ class Detumble {
private: private:
AcsParameters::DetumbleParameter *detumbleParameter; AcsParameters::DetumbleParameter *detumbleParameter;
AcsParameters::MagnetorquesParameter *magnetorquesParameter; AcsParameters::MagnetorquerParameter *magnetorquesParameter;
}; };
#endif /*ACS_CONTROL_DETUMBLE_H_*/ #endif /*ACS_CONTROL_DETUMBLE_H_*/