eive/eive-obsw
eive/eive-obsw
12
3
Fork 0
Code Issues 3 Pull Requests Releases 118 Wiki Activity

WIP: ACS Ptg Modes Strategy #665

Closed
meggert wants to merge 38 commits from acs-ptg-strat into v3.0.0-dev
pull from: acs-ptg-strat
merge into: eive:v3.0.0-dev
Conversation 0 Commits 38 Files Changed 18 +4 -2
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit a58f51ee91 - Show all commits

6
mission/controller/AcsController.cpp
View File

@ -368,9 +368,11 @@ void AcsController::performPointingCtrl() {
// Variables required for setting actuators
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
mgtDpDes[3] = {0, 0, 0};
switch (mode) {
case acs::PTG_IDLE:
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
@ -460,7 +462,7 @@ void AcsController::performPointingCtrl() {
case acs::PTG_INERTIAL:
std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
4 * sizeof(double));
sizeof(targetQuat));
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,