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Revert ACS Safe Mode Controller to FLP Design #466

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muellerr merged 64 commits from acs-flp-safe into develop 2023-04-14 20:26:20 +02:00
Conversation 1 Commits 64 Files Changed 31 +8 -12
2 changed files with 8 additions and 12 deletions
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5
mission/controller/acs/AcsParameters.cpp
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@ -351,10 +351,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setVector(safeModeControllerParameters.satRateRef);
break;
case 0xA:
parameterWrapper->set(safeModeControllerParameters.cosineStartSpin);
break;
case 0xB:
parameterWrapper->set(safeModeControllerParameters.sineCalculateOmegaSun);
parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
break;
default:
return INVALID_IDENTIFIER_ID;

15
mission/controller/acs/AcsParameters.h
View File

@ -811,13 +811,13 @@ class AcsParameters : public HasParametersIF {
} rwMatrices;
struct SafeModeControllerParameters {
double k_ortho_mekf = 0.00059437;
double k_align_mekf = 0.000056875;
double k_parallel_mekf = 0;
double k_ortho_mekf = 2.0e-1;
double k_align_mekf = 5.0e-4;
double k_parallel_mekf = 1.4e-4;
double k_ortho_no_mekf = 0.00059437;
double k_align_no_mekf = 0.000056875;
double k_parallel_no_mekf = 0;
double k_ortho_no_mekf = 2.0e-1;
double k_align_no_mekf = 5.0e-4;
double k_parallel_no_mekf = 1.4e-4;
double sunMagAngleMin = 5 * M_PI / 180;
@ -826,8 +826,7 @@ class AcsParameters : public HasParametersIF {
double satRateRef[3] = {0, 0, 0};
float cosineStartSpin = 0.9;
float sineCalculateOmegaSun = 0.24;
float angleStartSpin = 20 * M_PI / 180;
} safeModeControllerParameters;
struct PointingLawParameters {