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WIP: Fixes for Pointing Controller #631

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muellerr wants to merge 16 commits from acs-ptg-ctrl-fixes-2 into v2.1.0-dev
pull from: acs-ptg-ctrl-fixes-2
merge into: eive:v2.1.0-dev
Conversation 0 Commits 16 Files Changed 12 +262 -222
12 changed files with 262 additions and 222 deletions
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106
mission/controller/AcsController.cpp
View File

@ -169,7 +169,7 @@ void AcsController::performSafe() {
guidance.getTargetParamsSafe(sunTargetDir); guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy( acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.useMekf, acsParameters.safeModeControllerParameters.useMekf,
@ -205,11 +205,13 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1); safeCtrlFailure(0, 1);
break; break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performSafe" << std::endl;
break;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
*acsParameters.magnetorquerParameter.inverseAlignment, acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
acsParameters.magnetorquerParameter.dipolMax);
// detumble check and switch // detumble check and switch
if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf && if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
@ -231,8 +233,8 @@ void AcsController::performSafe() {
} }
updateCtrlValData(errAng, safeCtrlStrat); updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipolMtqs); updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration); acsParameters.magnetorquerParameter.torqueDuration);
} }
@ -259,7 +261,7 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_RECOVERY); triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
uint8_t safeCtrlStrat = detumble.detumbleStrategy( acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw); acsParameters.detumbleParameter.useFullDetumbleLaw);
@ -279,11 +281,13 @@ void AcsController::performDetumble() {
case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
safeCtrlFailure(0, 1); safeCtrlFailure(0, 1);
break; break;
default:
sif::error << "AcsController: Invalid safe mode strategy for performDetumble" << std::endl;
break;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
*acsParameters.magnetorquerParameter.inverseAlignment, acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
acsParameters.magnetorquerParameter.dipolMax);
if (mekfData.satRotRateMekf.isValid() && if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) < VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@ -304,8 +308,8 @@ void AcsController::performDetumble() {
} }
disableCtrlValData(); disableCtrlValData();
updateActuatorCmdData(cmdDipolMtqs); updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration); acsParameters.magnetorquerParameter.torqueDuration);
} }
@ -371,17 +375,17 @@ void AcsController::performPointingCtrl() {
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle); targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
&acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs); rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4); VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
break; break;
@ -395,17 +399,17 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
&acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs); rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4); VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
@ -416,17 +420,17 @@ void AcsController::performPointingCtrl() {
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle); targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
&acsParameters.gsTargetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs); rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4); VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
break; break;
@ -440,17 +444,17 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
&acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs); rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4); VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break; break;
@ -463,40 +467,38 @@ void AcsController::performPointingCtrl() {
errorSatRotRate, errorAngle); errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate, ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws); *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace( ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
&acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value), sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
&(sensorValues.rw4Set.currSpeed.value), rwTrqNs); rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4); VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq); actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
default: default:
sif::error << "AcsController: Invalid mode for performPointingCtrl"; sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
break; break;
} }
actuatorCmd.cmdSpeedToRws( actuatorCmd.cmdSpeedToRws(
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRws, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
cmdSpeedRws, acsParameters.onBoardParams.sampleTime, acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
acsParameters.rwHandlingParameters.maxRwSpeed, acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
acsParameters.rwHandlingParameters.inertiaWheel);
if (enableAntiStiction) { if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws); ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
} }
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
*acsParameters.magnetorquerParameter.inverseAlignment, acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
acsParameters.magnetorquerParameter.dipolMax);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate); updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs); updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime); acsParameters.rwHandlingParameters.rampTime);

2
mission/controller/AcsController.h
View File

@ -69,7 +69,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
bool mekfLost = false; bool mekfLost = false;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0}; int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0}; int16_t cmdDipoleMtqs[3] = {0, 0, 0};
#if OBSW_THREAD_TRACING == 1 #if OBSW_THREAD_TRACING == 1
uint32_t opCounter = 0; uint32_t opCounter = 0;

89
mission/controller/acs/AcsParameters.cpp
View File

@ -315,7 +315,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(rwMatrices.without4); parameterWrapper->setMatrix(rwMatrices.without4);
break; break;
case 0x6: case 0x6:
parameterWrapper->setVector(rwMatrices.nullspace); parameterWrapper->setVector(rwMatrices.nullspaceVector);
break; break;
default: default:
return INVALID_IDENTIFIER_ID; return INVALID_IDENTIFIER_ID;
@ -375,15 +375,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(idleModeControllerParameters.gainNullspace); parameterWrapper->set(idleModeControllerParameters.gainNullspace);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef); parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(idleModeControllerParameters.deSatGainFactor); parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
break; break;
case 0x7: case 0x7:
parameterWrapper->set(idleModeControllerParameters.desatOn); parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(idleModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction); parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break; break;
default: default:
@ -408,48 +411,51 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.gainNullspace); parameterWrapper->set(targetModeControllerParameters.gainNullspace);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef); parameterWrapper->set(targetModeControllerParameters.nullspaceSpeed);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(targetModeControllerParameters.deSatGainFactor); parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
break; break;
case 0x7: case 0x7:
parameterWrapper->set(targetModeControllerParameters.desatOn); parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction); parameterWrapper->set(targetModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->setVector(targetModeControllerParameters.refDirection); parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break; break;
case 0xA: case 0xA:
parameterWrapper->setVector(targetModeControllerParameters.refRotRate); parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break; break;
case 0xB: case 0xB:
parameterWrapper->setVector(targetModeControllerParameters.quatRef); parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break; break;
case 0xC: case 0xC:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax); parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break; break;
case 0xD: case 0xD:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt); parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break; break;
case 0xE: case 0xE:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt); parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break; break;
case 0xF: case 0xF:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt); parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break; break;
case 0x10: case 0x10:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr); parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break; break;
case 0x11: case 0x11:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart); parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break; break;
case 0x12: case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop); parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break; break;
case 0x13: case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x14:
parameterWrapper->set(targetModeControllerParameters.blindRotRate); parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break; break;
default: default:
@ -474,30 +480,33 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gsTargetModeControllerParameters.gainNullspace); parameterWrapper->set(gsTargetModeControllerParameters.gainNullspace);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef); parameterWrapper->set(gsTargetModeControllerParameters.nullspaceSpeed);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor); parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
break; break;
case 0x7: case 0x7:
parameterWrapper->set(gsTargetModeControllerParameters.desatOn); parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction); parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection); parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
break; break;
case 0xA: case 0xA:
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax); parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
break; break;
case 0xB: case 0xB:
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
break; break;
case 0xC: case 0xC:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
break; break;
case 0xD: case 0xD:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
break;
case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt); parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break; break;
default: default:
@ -522,21 +531,24 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.gainNullspace); parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef); parameterWrapper->set(nadirModeControllerParameters.nullspaceSpeed);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor); parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
break; break;
case 0x7: case 0x7:
parameterWrapper->set(nadirModeControllerParameters.desatOn); parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction); parameterWrapper->set(nadirModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection); parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break; break;
case 0xA: case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break;
case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef); parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break; break;
case 0xC: case 0xC:
@ -564,21 +576,24 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.gainNullspace); parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
break; break;
case 0x5: case 0x5:
parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef); parameterWrapper->set(inertialModeControllerParameters.nullspaceSpeed);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor); parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
break; break;
case 0x7: case 0x7:
parameterWrapper->set(inertialModeControllerParameters.desatOn); parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
break; break;
case 0x8: case 0x8:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction); parameterWrapper->set(inertialModeControllerParameters.desatOn);
break; break;
case 0x9: case 0x9:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat); parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break; break;
case 0xA: case 0xA:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break;
case 0xB:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate); parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break; break;
case 0xC: case 0xC:
@ -690,7 +705,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment); parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment);
break; break;
case 0x5: case 0x5:
parameterWrapper->set(magnetorquerParameter.dipolMax); parameterWrapper->set(magnetorquerParameter.dipoleMax);
break; break;
case 0x6: case 0x6:
parameterWrapper->set(magnetorquerParameter.torqueDuration); parameterWrapper->set(magnetorquerParameter.torqueDuration);

6
mission/controller/acs/AcsParameters.h
View File

@ -814,7 +814,7 @@ class AcsParameters : public HasParametersIF {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}}; {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = { double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}}; {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000}; double nullspaceVector[4] = {-1, 1, -1, 1};
} rwMatrices; } rwMatrices;
struct SafeModeControllerParameters { struct SafeModeControllerParameters {
@ -838,7 +838,9 @@ class AcsParameters : public HasParametersIF {
double om = 0.3; double om = 0.3;
double omMax = 1 * M_PI / 180; double omMax = 1 * M_PI / 180;
double qiMin = 0.1; double qiMin = 0.1;
double gainNullspace = 0.01; double gainNullspace = 0.01;
double nullspaceSpeed = 32500; // 0.1 RPM
double desatMomentumRef[3] = {0, 0, 0}; double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000; double deSatGainFactor = 1000;
@ -931,7 +933,7 @@ class AcsParameters : public HasParametersIF {
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 dipoleMax = 0.2; // [Am^2]
uint16_t torqueDuration = 300; // [ms] uint16_t torqueDuration = 300; // [ms]
} magnetorquerParameter; } magnetorquerParameter;

61
mission/controller/acs/ActuatorCmd.cpp
View File

@ -5,11 +5,6 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h> #include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h> #include <fsfw/globalfunctions/math/VectorOperations.h>
#include <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
ActuatorCmd::ActuatorCmd() {} ActuatorCmd::ActuatorCmd() {}
ActuatorCmd::~ActuatorCmd() {} ActuatorCmd::~ActuatorCmd() {}
@ -25,24 +20,30 @@ void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
} }
} }
void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed, const int32_t speedRw2, const int32_t speedRw3,
double sampleTime, int32_t maxRwSpeed, double inertiaWheel) { const double sampleTime, const double inertiaWheel,
using namespace Math; const int32_t maxRwSpeed, const double *rwTorque,
int32_t *rwCmdSpeed) {
// Calculating the commanded speed in RPM for every reaction wheel // concentrate RW speed values (in 0.1 [RPM]) in vector
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3}; int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
// calculate required RW speed as sum of current RW speed and RW speed delta
// delta w_rw = delta t / I_RW * torque_RW [rad/s]
double deltaSpeed[4] = {0, 0, 0, 0}; double deltaSpeed[4] = {0, 0, 0, 0};
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM const double factor = sampleTime / inertiaWheel * RAD_PER_SEC_TO_RPM * 10;
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = sampleTime / inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4); VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
// convert double to int32
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
deltaSpeedInt[i] = std::round(deltaSpeed[i]); deltaSpeedInt[i] = std::round(deltaSpeed[i]);
} }
// sum of current RW speed and RW speed delta
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4); VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
// crop values which would exceed the maximum possible RPM
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;
@ -52,24 +53,24 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
} }
} }
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator, void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
const double *inverseAlignment, double maxDipol) { const double *dipoleMoment, int16_t *dipoleMomentActuator) {
// Convert to actuator frame // convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0}; double dipoleMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(inverseAlignment, dipolMoment, dipolMomentActuatorDouble, 3, 3, MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3, 3,
1); 1);
// Scaling along largest element if dipol exceeds maximum // scaling along largest element if dipole exceeds maximum
uint8_t maxIdx = 0; uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx); VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]); double maxAbsValue = abs(dipoleMomentActuatorDouble[maxIdx]);
if (maxAbsValue > maxDipol) { if (maxAbsValue > maxDipole) {
double scalingFactor = maxDipol / maxAbsValue; double scalingFactor = maxDipole / maxAbsValue;
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor, VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, scalingFactor,
dipolMomentActuatorDouble, 3); dipoleMomentActuatorDouble, 3);
} }
// scale dipole from 1 Am^2 to 1e^-4 Am^2 // scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3); VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble, 3);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]); dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]);
} }
} }

32
mission/controller/acs/ActuatorCmd.h
View File

@ -1,9 +1,8 @@
#ifndef ACTUATORCMD_H_ #ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_ #define ACTUATORCMD_H_
#include "MultiplicativeKalmanFilter.h" #include <cmath>
#include "SensorProcessing.h"
#include "SensorValues.h"
class ActuatorCmd { class ActuatorCmd {
public: public:
@ -19,29 +18,30 @@ class ActuatorCmd {
void scalingTorqueRws(double *rwTrq, double maxTorque); void scalingTorqueRws(double *rwTrq, double maxTorque);
/* /*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction * @brief: cmdSpeedToRws() Calculates the RPM for the reaction wheel configuration,
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given * given the required torque calculated by the controller. Will also scale down the RPM of the
* as Input to the RWs * wheels if they exceed the maximum possible RPM
* @param: rwTrqIn given torque from pointing controller * @param: rwTrq given torque from pointing controller
* rwTrqNS Nullspace torque
* rwCmdSpeed output revolutions per minute for every * rwCmdSpeed output revolutions per minute for every
* reaction wheel * reaction wheel
*/ */
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3, void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime, const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
int32_t maxRwSpeed, double inertiaWheel); const int32_t maxRwSpeed, const double *rwTorque, int32_t *rwCmdSpeed);
/* /*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques * @brief: cmdDipoleMtq() gives the commanded dipole moment for the
* magnetorquer
* *
* @param: dipolMoment given dipol moment in spacecraft frame * @param: dipoleMoment given dipole moment in spacecraft frame
* dipolMomentActuator resulting dipol moment in actuator reference frame * dipoleMomentActuator resulting dipole moment in actuator reference frame
*/ */
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator, void cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
const double *inverseAlignment, double maxDipol); const double *dipoleMoment, int16_t *dipoleMomentActuator);
protected: protected:
private: private:
static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
}; };
#endif /* ACTUATORCMD_H_ */ #endif /* ACTUATORCMD_H_ */

6
mission/controller/acs/control/Detumble.cpp
View File

@ -7,8 +7,10 @@ Detumble::Detumble() {}
Detumble::~Detumble() {} Detumble::~Detumble() {}
uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
const bool magFieldRateValid, const bool useFullDetumbleLaw) { const bool satRotRateValid,
const bool magFieldRateValid,
const bool useFullDetumbleLaw) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (satRotRateValid and useFullDetumbleLaw) { } else if (satRotRateValid and useFullDetumbleLaw) {

5
mission/controller/acs/control/Detumble.h
View File

@ -11,8 +11,9 @@ class Detumble {
Detumble(); Detumble();
virtual ~Detumble(); virtual ~Detumble();
uint8_t detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const bool magFieldRateValid, const bool useFullDetumbleLaw); const bool magFieldRateValid,
const bool useFullDetumbleLaw);
void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB, void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
double gain); double gain);

140
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -5,9 +5,6 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h> #include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h> #include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h> #include <fsfw/globalfunctions/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; } PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
@ -98,61 +95,88 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4); VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
} }
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) {
// 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)};
// calculate RPM offset utilizing the nullspace
double rpmOffset[4] = {0, 0, 0, 0};
double rpmOffsetSpeed = pointingLawParameters->nullspaceSpeed / 10 * RPM_TO_RAD_PER_SEC;
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector, rpmOffsetSpeed,
rpmOffset, 4);
// calculate resulting angular momentum
double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
rwAngMomentum, 4);
// calculate resulting torque
double nullspaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(acsParameters->rwMatrices.nullspaceVector,
acsParameters->rwMatrices.nullspaceVector, *nullspaceMatrix, 4,
1, 4);
MatrixOperations<double>::multiply(*nullspaceMatrix, rwAngMomentum, rwTrqNs, 4, 4, 1);
VectorOperations<double>::mulScalar(rwTrqNs, -1 * pointingLawParameters->gainNullspace, rwTrqNs,
4);
}
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters, void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate, const double *magFieldB, const bool magFieldBValid,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, const double *satRate, const int32_t speedRw0, const int32_t speedRw1,
int32_t *speedRw3, double *mgtDpDes) { const int32_t speedRw2, const int32_t speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) { if (not magFieldBValid or not pointingLawParameters->desatOn) {
mgtDpDes[0] = 0;
mgtDpDes[1] = 0;
mgtDpDes[2] = 0;
return; return;
} }
// calculating momentum of satellite and momentum of reaction wheels // concentrate RW speeds as vector and convert to double
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3}; double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0}; static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
momentumRwU, 4);
MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), momentumRwU,
momentumRw, 3, 4, 1);
double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
momentumSat, 3, 3, 1);
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error
double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
deltaMomentum, 3);
// resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
factor = (pointingLawParameters->deSatGainFactor) / normMag;
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, // convert magFieldB from uT to T
const int32_t *speedRw0, const int32_t *speedRw1, double magFieldBT[3] = {0, 0, 0};
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) { VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0}; // calculate angular momentum of the satellite
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60; double angMomentumSat[3] = {0, 0, 0};
// conversion to [rad/s] for further calculations MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4); angMomentumSat, 3, 3, 1);
VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
double diffRwSpeed[4] = {0, 0, 0, 0}; // calculate angular momentum of the reaction wheels with respect to the nullspace RW speed
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4); // relocate RW speed zero to nullspace RW speed
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel, double refSpeedRws[4] = {0, 0, 0, 0};
wheelMomentum, 4); VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
double gainNs = pointingLawParameters->gainNullspace; pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
MathOperations<double>::vecTransposeVecMatrix(acsParameters->rwMatrices.nullspace, // convert to rad/s
acsParameters->rwMatrices.nullspace, VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
*nullSpaceMatrix, 4); // calculate angular momentum of each RW
MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1); double angMomentumRwU[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4); VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4); angMomentumRwU, 4);
// convert RW angular momentum to body RF
double angMomentumRw[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), angMomentumRwU,
angMomentumRw, 3, 4, 1);
// calculate total angular momentum
double angMomentumTotal[3] = {0, 0, 0};
VectorOperations<double>::add(angMomentumSat, angMomentumRw, angMomentumTotal, 3);
// calculating momentum error
double deltaAngMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(angMomentumTotal, pointingLawParameters->desatMomentumRef,
deltaAngMomentum, 3);
// resulting magnetic dipole command
double crossAngMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaAngMomentum, magFieldBT, crossAngMomentumMagField);
double factor =
pointingLawParameters->deSatGainFactor / VectorOperations<double>::norm(magFieldBT, 3);
VectorOperations<double>::mulScalar(crossAngMomentumMagField, factor, mgtDpDes, 3);
} }
void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeeds) { void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeeds) {
@ -169,15 +193,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
if (rwCmdSpeeds[i] != 0) { if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed && if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) { rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
if (currRwSpeed[i] == 0) { if (rwCmdSpeeds[i] > currRwSpeed[i]) {
if (rwCmdSpeeds[i] > 0) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < 0) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) { } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} }
} }

24
mission/controller/acs/control/PtgCtrl.h
View File

@ -1,13 +1,10 @@
#ifndef PTGCTRL_H_ #ifndef PTGCTRL_H_
#define PTGCTRL_H_ #define PTGCTRL_H_
#include <math.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <stdio.h> #include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "eive/resultClassIds.h"
class PtgCtrl { class PtgCtrl {
/* /*
@ -29,14 +26,14 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError, void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws); const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2, const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t *speedRw3, double *rwTrqNs); const int32_t speedRw3, double *rwTrqNs);
void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *magFieldB, const bool magFieldBValid, const double *satRate,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *mgtDpDes);
/* @brief: Commands the stiction torque in case wheel speed is to low /* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after antistiction * torqueCommand modified torque after antistiction
@ -45,6 +42,7 @@ class PtgCtrl {
private: private:
const AcsParameters *acsParameters; const AcsParameters *acsParameters;
static constexpr double RPM_TO_RAD_PER_SEC = (2 * M_PI) / 60;
}; };
#endif /* ACS_CONTROL_PTGCTRL_H_ */ #endif /* ACS_CONTROL_PTGCTRL_H_ */

7
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -9,9 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {} SafeCtrl::~SafeCtrl() {}
uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid, const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled) { const uint8_t mekfEnabled,
const uint8_t dampingEnabled) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) { } else if (mekfEnabled and mekfValid) {

6
mission/controller/acs/control/SafeCtrl.h
View File

@ -12,9 +12,9 @@ class SafeCtrl {
SafeCtrl(AcsParameters *acsParameters_); SafeCtrl(AcsParameters *acsParameters_);
virtual ~SafeCtrl(); virtual ~SafeCtrl();
uint8_t safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid, const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled, const uint8_t dampingEnabled); const uint8_t mekfEnabled, const uint8_t dampingEnabled);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, double *magMomB, const double *quatBI, const double *sunDirRefB, double *magMomB,