eive/eive-obsw
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chonky #670

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muellerr merged 278 commits from v3.0.0-dev into main 2023-06-11 14:25:21 +02:00
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mission/controller/acs/control/PtgCtrl.cpp
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@ -151,6 +151,8 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector, VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
pointingLawParameters->nullspaceSpeed, refSpeedRws, 4); pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4); VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
// convert speed from 10 RPM to 1 RPM
VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
// convert to rad/s // convert to rad/s
VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4); VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
// calculate angular momentum of each RW // calculate angular momentum of each RW