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Once upon a time Robin was made happy #800

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meggert merged 20 commits from make-robin-happy-about-timestuff into dev-7.5.0 2023-12-04 11:21:53 +01:00
Conversation 1 Commits 20 Files Changed 10 +13 -10
2 changed files with 13 additions and 10 deletions
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19
mission/controller/acs/Guidance.cpp
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@ -16,9 +16,11 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameter
Guidance::~Guidance() {} Guidance::~Guidance() {}
void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], [[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
double sunDirI[3], double refDirB[3], double quatBI[4], double velSatE[3], double sunDirI[3],
double targetQuat[4], double targetSatRotRate[3]) { double refDirB[3], double quatBI[4],
double targetQuat[4],
double targetSatRotRate[3]) {
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
// Calculation of target quaternion to groundstation or given latitude, longitude and altitude // Calculation of target quaternion to groundstation or given latitude, longitude and altitude
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
@ -38,7 +40,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE); MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -303,9 +305,10 @@ void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targ
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate); targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
} }
void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4], [[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
double targetQuat[4], double refDirB[3], double posSatE[3], double quatBI[4],
double refSatRate[3]) { double targetQuat[4], double refDirB[3],
double refSatRate[3]) {
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing // Calculation of target quaternion for Nadir pointing
//------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------
@ -316,7 +319,7 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot); MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE); MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};

4
mission/controller/acs/Guidance.h
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@ -17,7 +17,7 @@ class Guidance {
// Function to get the target quaternion and reference rotation rate from gps position and // Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station // position of the ground station
void targetQuatPtgSingleAxis(const double timeDelta, double posSatE[3], double velSatE[3], void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
double sunDirI[3], double refDirB[3], double quatBI[4], double sunDirI[3], double refDirB[3], double quatBI[4],
double targetQuat[4], double targetSatRotRate[3]); double targetQuat[4], double targetSatRotRate[3]);
void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3], void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
@ -32,7 +32,7 @@ class Guidance {
// Function to get the target quaternion and refence rotation rate from gps position for Nadir // Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing // pointing
void targetQuatPtgNadirSingleAxis(const double timeDelta, double posSatE[3], double quatBI[4], void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
double targetQuat[4], double refDirB[3], double refSatRate[3]); double targetQuat[4], double refDirB[3], double refSatRate[3]);
void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta, void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
double posSatE[3], double velSatE[3], double targetQuat[4], double posSatE[3], double velSatE[3], double targetQuat[4],