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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
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1 changed files with 2 additions and 1 deletions
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mission/controller/acs/control/PtgCtrl.cpp
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@ -102,6 +102,8 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// concentrate RW speeds as vector and convert to double // concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1), double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)}; 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 // calculate RPM offset utilizing the nullspace
double rpmOffset[4] = {0, 0, 0, 0}; double rpmOffset[4] = {0, 0, 0, 0};
@ -112,7 +114,6 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
// calculate resulting angular momentum // calculate resulting angular momentum
double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0}; double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4); VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, 1e-1, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel, VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
rwAngMomentum, 4); rwAngMomentum, 4);