eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Some ACS bugfixes #459

Merged
muellerr merged 3 commits from acs-ctrl-bugfixes into develop 2023-03-13 10:27:07 +01:00
Conversation 0 Commits 3 Files Changed 3 +2 -2
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit b1fa3fd016 - Show all commits

4
mission/controller/acs/ActuatorCmd.cpp
View File

@ -42,14 +42,14 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
deltaSpeedInt[i] = std::round(deltaSpeed[i]); deltaSpeedInt[i] = std::round(deltaSpeed[i]);
} }
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4); VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) { if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed; rwCmdSpeed[i] = maxRwSpeed;
} else if (rwCmdSpeed[i] < -maxRwSpeed) { } else if (rwCmdSpeed[i] < -maxRwSpeed) {
rwCmdSpeed[i] = -maxRwSpeed; rwCmdSpeed[i] = -maxRwSpeed;
} }
} }
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
} }
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator, void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,