CHANGELOG.md

@@ -16,6 +16,16 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Guidance now uses the coordinate functions from the FSFW.
+- Idle should now point the STR away from the earth
+
+## Fixed
+
+- Fixed bugs in `Guidance::comparePtg` and corrected overloading
+- Detumbling State Machine is now robust to commanded mode changes.
+
 # [v7.6.0] 2024-01-30
 
 - Bumped `eive-tmtc` to v5.13.0

mission/acs/defs.h

@@ -70,6 +70,9 @@ static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
 static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The detumble transition has failed.
+//! //! P1: Last detumble state before failure.
+static constexpr Event DETUMBLE_TRANSITION_FAILED = MAKE_EVENT(11, severity::HIGH);
 //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
 //! cannot be maintained.
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);

mission/controller/AcsController.cpp

@@ -420,8 +420,8 @@ void AcsController::performPointingCtrl() {
 
   switch (mode) {
     case acs::PTG_IDLE:
-      guidance.targetQuatPtgSun(timeDelta, susDataProcessed.sunIjkModel.value, targetQuat,
-                                targetSatRotRate);
+      guidance.targetQuatPtgIdle(timeAbsolute, timeDelta, susDataProcessed.sunIjkModel.value,
+                                 gpsDataProcessed.gpsPosition.value, targetQuat, targetSatRotRate);
       guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
@@ -440,7 +440,7 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgTarget(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                    gpsDataProcessed.gpsVelocity.value, targetQuat,
                                    targetSatRotRate);
       guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
@@ -483,8 +483,7 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_NADIR:
-      guidance.targetQuatPtgNadirThreeAxes(
-          timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgNadir(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                   gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate);
       guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
                           acsParameters.nadirModeControllerParameters.quatRef,
@@ -568,9 +567,16 @@ void AcsController::handleDetumbling() {
       break;
     case DetumbleState::DETUMBLE_FROM_PTG:
       triggerEvent(acs::PTG_RATE_VIOLATION);
+      detumbleTransitionCountdow.resetTimer();
       detumbleState = DetumbleState::PTG_TO_SAFE_TRANSITION;
       break;
     case DetumbleState::PTG_TO_SAFE_TRANSITION:
+      if (detumbleTransitionCountdow.hasTimedOut()) {
+        triggerEvent(acs::DETUMBLE_TRANSITION_FAILED, 2);
+        detumbleCounter = 0;
+        detumbleState = DetumbleState::NO_DETUMBLE;
+        break;
+      }
       if (mode == acs::AcsMode::SAFE) {
         detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
       }
@@ -578,10 +584,15 @@ void AcsController::handleDetumbling() {
     case DetumbleState::DETUMBLE_FROM_SAFE:
       detumbleCounter = 0;
       // Triggers detumble mode transition in subsystem
+      if (mode == acs::AcsMode::SAFE) {
         triggerEvent(acs::SAFE_RATE_VIOLATION);
         startTransition(mode, acs::SafeSubmode::DETUMBLE);
         detumbleState = DetumbleState::IN_DETUMBLE;
         break;
+      }
+      triggerEvent(acs::DETUMBLE_TRANSITION_FAILED, 3);
+      detumbleState = DetumbleState::NO_DETUMBLE;
+      break;
     case DetumbleState::IN_DETUMBLE:
       if (fusedRotRateData.rotRateTotal.isValid() and
           VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
@@ -885,6 +896,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
 }
 
 void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  guidance.resetValues();
   if (mode == acs::AcsMode::SAFE) {
     {
       PoolReadGuard pg(&rw1SpeedSet);
@@ -903,7 +915,12 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
       rw4SpeedSet.setRwSpeed(0, 10);
     }
   }
-  guidance.resetValues();
+  if (submode == acs::SafeSubmode::DETUMBLE) {
+    detumbleState = DetumbleState::IN_DETUMBLE;
+  }
+  if (detumbleState == DetumbleState::IN_DETUMBLE and submode != acs::SafeSubmode::DETUMBLE) {
+    detumbleState = DetumbleState::NO_DETUMBLE;
+  }
   return ExtendedControllerBase::modeChanged(mode, submode);
 }
 

mission/controller/AcsController.h

@@ -283,6 +283,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
+
+  // Countdown after which the detumbling mode change should have been finished
+  static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
+  Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
 };
 
 #endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */

mission/controller/acs/Guidance.cpp

@@ -4,415 +4,200 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 Guidance::~Guidance() {}
 
-[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
-                                                      double velSatE[3], double sunDirI[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
-  //-------------------------------------------------------------------------------------
-  // transform longitude, latitude and altitude to ECEF
-  double targetE[3] = {0, 0, 0};
+void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
+                                 const double sunDirI[3], const double posSatF[4],
+                                 double targetQuat[4], double targetSatRotRate[3]) {
+  // positive z-Axis of EIVE in direction of sun
+  double zAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirI, zAxisXI, 3);
 
-  MathOperations<double>::cartesianFromLatLongAlt(
-      acsParameters->targetModeControllerParameters.latitudeTgt,
-      acsParameters->targetModeControllerParameters.longitudeTgt,
-      acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
+  // determine helper vector to point x-Axis and therefore the STR away from Earth
+  double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  VectorOperations<double>::normalize(posSatI, helperXI, 3);
 
-  // target direction in the ECEF frame
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
+  // construct y-axis from helper vector and z-axis
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisXI, helperXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
-  // transformation between ECEF and ECI frame
-  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 dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
+  // x-axis completes RHS
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxisXI, zAxisXI, xAxisXI);
+  VectorOperations<double>::normalize(xAxisXI, xAxisXI, 3);
 
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+  // join transformation matrix
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  // transformation between ECEF and Body frame
-  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-
-  QuaternionOperations::toDcm(quatBI, dcmBI);
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
-
-  // target Direction in the body frame
-  double targetDirB[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
-
-  // rotation quaternion from two vectors
-  double refDir[3] = {0, 0, 0};
-  refDir[0] = acsParameters->targetModeControllerParameters.refDirection[0];
-  refDir[1] = acsParameters->targetModeControllerParameters.refDirection[1];
-  refDir[2] = acsParameters->targetModeControllerParameters.refDirection[2];
-  double noramlizedTargetDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
-  VectorOperations<double>::normalize(refDir, refDir, 3);
-  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
-  double normRefDir = VectorOperations<double>::norm(refDir, 3);
-  double crossDir[3] = {0, 0, 0};
-  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
-  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
-  targetQuat[0] = crossDir[0];
-  targetQuat[1] = crossDir[1];
-  targetQuat[2] = crossDir[2];
-  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
-  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
-
-  //-------------------------------------------------------------------------------------
-  // calculation of reference rotation rate
-  //-------------------------------------------------------------------------------------
-  double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
-  // velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
-  MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
-  double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
-  MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
-  VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
-
-  double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
-  double normRefSatRate = normVelSatB / normTargetDirB;
-
-  double satRateDir[3] = {0, 0, 0};
-  VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
-  VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
-  VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
-
-  //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate in case of star tracker blinding
-  //-------------------------------------------------------------------------------------
-  if (acsParameters->targetModeControllerParameters.avoidBlindStr) {
-    double sunDirB[3] = {0, 0, 0};
-    MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
-
-    double exclAngle = acsParameters->strParameters.exclusionAngle,
-           blindStart = acsParameters->targetModeControllerParameters.blindAvoidStart,
-           blindEnd = acsParameters->targetModeControllerParameters.blindAvoidStop;
-    double sightAngleSun =
-        VectorOperations<double>::dot(acsParameters->strParameters.boresightAxis, sunDirB);
-
-    if (!(strBlindAvoidFlag)) {
-      double critSightAngle = blindStart * exclAngle;
-      if (sightAngleSun < critSightAngle) {
-        strBlindAvoidFlag = true;
-      }
-    } else {
-      if (sightAngleSun < blindEnd * exclAngle) {
-        double normBlindRefRate = acsParameters->targetModeControllerParameters.blindRotRate;
-        double blindRefRate[3] = {0, 0, 0};
-        if (sunDirB[1] < 0) {
-          blindRefRate[0] = normBlindRefRate;
-          blindRefRate[1] = 0;
-          blindRefRate[2] = 0;
-        } else {
-          blindRefRate[0] = -normBlindRefRate;
-          blindRefRate[1] = 0;
-          blindRefRate[2] = 0;
-        }
-        VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
-      } else {
-        strBlindAvoidFlag = false;
-      }
-    }
-  }
-  // revert calculated quaternion from qBX to qIX
-  double quatIB[4] = {0, 0, 0, 1};
-  QuaternionOperations::inverse(quatBI, quatIB);
-  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
+  // calculate of reference rotation rate
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta,
-                                      double posSatE[3], double velSatE[3], double targetQuat[4],
+void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                                   double velSatF[3], double targetQuat[4],
                                    double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for target pointing
   //-------------------------------------------------------------------------------------
   // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
-  double targetE[3] = {0, 0, 0};
+  double targetF[3] = {0, 0, 0};
   MathOperations<double>::cartesianFromLatLongAlt(
       acsParameters->targetModeControllerParameters.latitudeTgt,
       acsParameters->targetModeControllerParameters.longitudeTgt,
-      acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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 dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+      acsParameters->targetModeControllerParameters.altitudeTgt, targetF);
+  double targetDirF[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(targetF, posSatF, targetDirF, 3);
 
   // target direction in the ECI frame
   double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  CoordinateTransformations::positionEcfToEci(targetF, targetI, &timeAbsolute);
   VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
 
   // x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirI, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirI, xAxisXI, 3);
 
   // transform velocity into inertial frame
-  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
+  double velSatI[3] = {0, 0, 0};
+  CoordinateTransformations::velocityEcfToEci(velSatF, posSatF, velSatI, &timeAbsolute);
 
   // orbital normal vector of target and velocity vector
   double orbitalNormalI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
+  VectorOperations<double>::cross(posSatI, velSatI, orbitalNormalI);
   VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
 
   // y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
   // resolution
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalI, xAxisXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
   // z-axis completes RHS
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
+  double zAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxisXI, yAxisXI, zAxisXI);
 
   // join transformation matrix
-  double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                        {xAxis[1], yAxis[1], zAxis[1]},
-                        {xAxis[2], yAxis[2], zAxis[2]}};
+  double dcmIX[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
   QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta,
-                               double posSatE[3], double sunDirI[3], double targetQuat[4],
+void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                               double sunDirI[3], double targetQuat[4],
                                double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for ground station pointing
   //-------------------------------------------------------------------------------------
   // transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
-  double groundStationE[3] = {0, 0, 0};
-
+  double posGroundStationF[3] = {0, 0, 0};
   MathOperations<double>::cartesianFromLatLongAlt(
       acsParameters->gsTargetModeControllerParameters.latitudeTgt,
       acsParameters->gsTargetModeControllerParameters.longitudeTgt,
-      acsParameters->gsTargetModeControllerParameters.altitudeTgt, groundStationE);
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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 dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
+      acsParameters->gsTargetModeControllerParameters.altitudeTgt, posGroundStationF);
 
   // target direction in the ECI frame
-  double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
-  VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
+  double posSatI[3] = {0, 0, 0}, posGroundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  CoordinateTransformations::positionEcfToEci(posGroundStationI, posGroundStationI, &timeAbsolute);
+  VectorOperations<double>::subtract(posGroundStationI, posSatI, groundStationDirI, 3);
 
   // negative x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(groundStationDirI, xAxisXI, 3);
+  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
 
   // get sun vector model in ECI
   VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
 
   // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
   // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
-  double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
-  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
-  double sunParallel[3], zAxis[3];
-  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
-  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+  double xDotS = VectorOperations<double>::dot(xAxisXI, sunDirI);
+  xDotS /= pow(VectorOperations<double>::norm(xAxisXI, 3), 2);
+  double sunParallel[3], zAxisXI[3];
+  VectorOperations<double>::mulScalar(xAxisXI, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisXI, 3);
+  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
 
   // y-axis completes RHS
-  double yAxis[3];
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+  double yAxisXI[3];
+  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
+  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
 
   // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
+  targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4],
-                                double targetSatRotRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to sun
-  //-------------------------------------------------------------------------------------
-  //  positive z-Axis of EIVE in direction of sun
-  double zAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(sunDirI, zAxis, 3);
-
-  //  assign helper vector (north pole inertial)
-  double helperVec[3] = {0, 0, 1};
-
-  //  construct y-axis from helper vector and z-axis
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
-  VectorOperations<double>::normalize(yAxis, yAxis, 3);
-
-  //  x-axis completes RHS
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
-  VectorOperations<double>::normalize(xAxis, xAxis, 3);
-
-  // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
-
-  //----------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //----------------------------------------------------------------------------
-  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
-}
-
-[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
-                                                           double posSatE[3], double quatBI[4],
-                                                           double targetQuat[4], double refDirB[3],
-                                                           double refSatRate[3]) {
+void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                                  double velSatE[3], double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
   //-------------------------------------------------------------------------------------
-  double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
-
-  // transformation between ECEF and ECI frame
-  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 dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
-
-  // transformation between ECEF and Body frame
-  double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  QuaternionOperations::toDcm(quatBI, dcmBI);
-  MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
-
-  // target Direction in the body frame
-  double targetDirB[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
-
-  // rotation quaternion from two vectors
-  double refDir[3] = {0, 0, 0};
-  refDir[0] = acsParameters->nadirModeControllerParameters.refDirection[0];
-  refDir[1] = acsParameters->nadirModeControllerParameters.refDirection[1];
-  refDir[2] = acsParameters->nadirModeControllerParameters.refDirection[2];
-  double noramlizedTargetDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
-  VectorOperations<double>::normalize(refDir, refDir, 3);
-  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
-  double normRefDir = VectorOperations<double>::norm(refDir, 3);
-  double crossDir[3] = {0, 0, 0};
-  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
-  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
-  targetQuat[0] = crossDir[0];
-  targetQuat[1] = crossDir[1];
-  targetQuat[2] = crossDir[2];
-  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
-  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
-
-  //-------------------------------------------------------------------------------------
-  //	Calculation of reference rotation rate
-  //-------------------------------------------------------------------------------------
-  refSatRate[0] = 0;
-  refSatRate[1] = 0;
-  refSatRate[2] = 0;
-
-  // revert calculated quaternion from qBX to qIX
-  double quatIB[4] = {0, 0, 0, 1};
-  QuaternionOperations::inverse(quatBI, quatIB);
-  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
-}
-
-void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
-                                           double posSatE[3], double velSatE[3],
-                                           double targetQuat[4], double refSatRate[3]) {
-  //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion for Nadir pointing
-  //-------------------------------------------------------------------------------------
-  // transformation between ECEF and ECI frame
-  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 dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
-
-  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
 
   // satellite position in inertial reference frame
   double posSatI[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
+  CoordinateTransformations::positionEcfToEci(posSatE, posSatI, &timeAbsolute);
 
   // negative x-axis aligned with position vector
   // this aligns with the camera, E- and S-band antennas
-  double xAxis[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(posSatI, xAxis, 3);
-  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+  double xAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(posSatI, xAxisXI, 3);
+  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
 
   // make z-Axis parallel to major part of camera resolution
-  double zAxis[3] = {0, 0, 0};
-  double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
-  MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
-  VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
-  VectorOperations<double>::cross(xAxis, velocityI, zAxis);
-  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+  double zAxisXI[3] = {0, 0, 0};
+  double velSatI[3] = {0, 0, 0};
+  CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
+  VectorOperations<double>::cross(xAxisXI, velSatI, zAxisXI);
+  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
 
   // y-Axis completes RHS
-  double yAxis[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+  double yAxisXI[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
 
   // join transformation matrix
-  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
-                         {xAxis[1], yAxis[1], zAxis[1]},
-                         {xAxis[2], yAxis[2], zAxis[2]}};
-  QuaternionOperations::fromDcm(dcmTgt, targetQuat);
+  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
+                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
+                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  QuaternionOperations::fromDcm(dcmXI, targetQuat);
 
-  int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate);
+  targetRotationRate(timeDelta, targetQuat, refSatRate);
+}
+
+void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], double *refSatRate) {
+  if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
+    std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
+  }
+  if (timeDelta != 0.0) {
+    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+  } else {
+    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
+  }
+  std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
 }
 
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                           double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
-  // First calculate error quaternion between current and target orientation
-  double invTargetQuat[4] = {0, 0, 0, 0};
-  QuaternionOperations::inverse(targetQuat, invTargetQuat);
-  QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
-  // Last calculate add rotation from reference quaternion
-  QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
+  // First calculate error quaternion between current and target orientation without reference
+  // quaternion
+  double errorQuatWoRef[4] = {0, 0, 0, 0};
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
+  // Then add rotation from reference quaternion
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
@@ -435,30 +220,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double errorQuat[4],
                           double errorSatRotRate[3], double &errorAngle) {
-  // First calculate error quaternion between current and target orientation
-  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
-  // Keep scalar part of quaternion positive
-  if (errorQuat[3] < 0) {
-    VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
-  }
-  // Calculate error angle
-  errorAngle = QuaternionOperations::getAngle(errorQuat, true);
-
-  // Calculate error satellite rotational rate
-  VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
-}
-
-void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
-                                  double quatIX[4], double *refSatRate) {
-  if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
-    std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
-  }
-  if (timeDelta != 0.0) {
-    QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
-  } else {
-    std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
-  }
-  std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
+  double refQuat[4] = {0, 0, 0, 1}, refSatRotRate[3] = {0, 0, 0};
+  comparePtg(currentQuat, currentSatRotRate, targetQuat, targetSatRotRate, refQuat, refSatRotRate,
+             errorQuat, errorSatRotRate, errorAngle);
 }
 
 ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,

mission/controller/acs/Guidance.h

@@ -1,6 +1,7 @@
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_
 
+#include <fsfw/coordinates/CoordinateTransformations.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
@@ -24,33 +25,18 @@ class Guidance {
   ReturnValue_t solarArrayDeploymentComplete();
   void resetValues();
 
-  // Function to get the target quaternion and reference rotation rate from gps position and
-  // position of the ground station
-  void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
-                               double sunDirI[3], double refDirB[3], double quatBI[4],
-                               double targetQuat[4], double targetSatRotRate[3]);
-  void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+  void targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta, const double sunDirI[3],
+                         const double posSatF[4], double targetQuat[4], double targetSatRotRate[3]);
+  void targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
                            double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
-  void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+  void targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, double posSatF[3],
                        double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatF[3],
+                          double velSatF[3], double targetQuat[4], double refSatRate[3]);
 
-  // Function to get the target quaternion and reference rotation rate for sun pointing after ground
-  // station
-  void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4],
-                        double targetSatRotRate[3]);
+  void targetRotationRate(const double timeDelta, double quatInertialTarget[4],
+                          double *targetSatRotRate);
 
-  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
-  // pointing
-  void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
-                                    double targetQuat[4], double refDirB[3], double refSatRate[3]);
-  void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
-                                   double posSatE[3], double velSatE[3], double targetQuat[4],
-                                   double refSatRate[3]);
-
-  // @note: Calculates the error quaternion between the current orientation and the target
-  // quaternion, considering a reference quaternion. Additionally the difference between the actual
-  // and a desired satellite rotational rate is calculated, again considering a reference rotational
-  // rate. Lastly gives back the error angle of the error quaternion.
   void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                   double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                   double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
@@ -58,11 +44,6 @@ class Guidance {
                   double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
                   double &errorAngle);
 
-  void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
-                          double quatInertialTarget[4], double *targetSatRotRate);
-
-  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
-  // reation wheel 	maybe can be done in "commanding.h"
   ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
 
  private: