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ACS Ptg Ctrl Fixes #643

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muellerr merged 35 commits from acs-ptg-ctrl-fixes-2 into v3.0.0-dev 2023-06-07 11:49:10 +02:00
Conversation 0 Commits 35 Files Changed 15 +4 -3
1 changed files with 4 additions and 3 deletions
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mission/controller/acs/ActuatorCmd.cpp
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@ -57,8 +57,8 @@ void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxD
const double *dipoleMoment, int16_t *dipoleMomentActuator) { const double *dipoleMoment, int16_t *dipoleMomentActuator) {
// convert to actuator frame // convert to actuator frame
double dipoleMomentActuatorDouble[3] = {0, 0, 0}; double dipoleMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3, 3, MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3,
1); 3, 1);
// scaling along largest element if dipole exceeds maximum // scaling along largest element if dipole exceeds maximum
uint8_t maxIdx = 0; uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx); VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
@ -69,7 +69,8 @@ void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxD
dipoleMomentActuatorDouble, 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(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble, 3); VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble,
3);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]); dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]);
} }