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

ACS Ptg Ctrl Fixes #643

Merged
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 +2 -1
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit c64ea7f7e6 - Show all commits

3
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -102,6 +102,8 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// 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)};
VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
// calculate RPM offset utilizing the nullspace
double rpmOffset[4] = {0, 0, 0, 0};
@ -112,7 +114,6 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// 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, 1e-1, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
rwAngMomentum, 4);