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WIP: Fixes for Pointing Controller #616

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meggert wants to merge 49 commits from acs-ptg-ctrl-fixes into v2.1.0-dev
pull from: acs-ptg-ctrl-fixes
merge into: eive:v2.1.0-dev
Conversation 1 Commits 49 Files Changed 30 +4 -1
1 changed files with 4 additions and 1 deletions
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mission/controller/acs/control/PtgCtrl.cpp
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@ -106,8 +106,11 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
return; return;
} }
// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(*speedRw0), static_cast<double>(*speedRw1),
static_cast<double>(*speedRw2), static_cast<double>(*speedRw3)};
// calculating momentum of satellite and momentum of reaction wheels // calculating momentum of satellite and momentum of reaction wheels
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0}; double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel, VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
momentumRwU, 4); momentumRwU, 4);