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WIP: ACS Ptg Modes Strategy #665

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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 +8 -10
2 changed files with 8 additions and 10 deletions
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8
mission/controller/acs/control/PtgCtrl.cpp
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@ -5,9 +5,7 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h>
#include "../util/MathOperations.h"
#include <mission/controller/acs/util/MathOperations.h>
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
@ -135,7 +133,9 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
// 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)};
double wheelMomentum[4] = {0, 0, 0, 0};
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
// conversion to [rad/s] for further calculations

10
mission/controller/acs/control/PtgCtrl.h
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@ -1,13 +1,10 @@
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
#include <math.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include "../AcsParameters.h"
#include "../SensorValues.h"
#include "eive/resultClassIds.h"
class PtgCtrl {
/*
@ -45,6 +42,7 @@ class PtgCtrl {
private:
const AcsParameters *acsParameters;
static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */