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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 +8 -26
1 changed files with 8 additions and 26 deletions
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mission/controller/acs/Guidance.cpp
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@ -424,21 +424,12 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle // Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired // Calculate error satellite rotational rate
if (errorAngle < 2. / 180. * M_PI) {
// First combine the target and reference satellite rotational rates // First combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0}; double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3); VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then substract the combined required satellite rotational rates from the actual rate // Then subtract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
} }
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
@ -453,17 +444,8 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// Calculate error angle // Calculate error angle
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Only give back error satellite rotational rate if orientation has already been aquired // Calculate error satellite rotational rate
if (errorAngle < 2. / 180. * M_PI) {
// Then substract the combined required satellite rotational rates from the actual rate
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3); VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
} else {
// If orientation has not been aquired yet set satellite rotational rate to zero
errorSatRotRate = 0;
}
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
// under 150 arcsec ??
} }
void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],