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Fixes for Pointing Modes #851

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meggert merged 24 commits from ptg-fixes into main 2024-01-29 17:05:46 +01:00
Conversation 2 Commits 24 Files Changed 12 +8 -3
2 changed files with 8 additions and 3 deletions
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8
mission/controller/acs/control/PtgCtrl.cpp
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@ -39,7 +39,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]}; double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
double cInt = 2 * om * zeta; double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2); double kInt = 2 * om * om;
muellerr commented 2024-01-29 12:03:47 +01:00
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sad pow sounds

sad pow sounds
double qErrorLaw[3] = {0, 0, 0}; double qErrorLaw[3] = {0, 0, 0};
@ -111,9 +111,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4); VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
} }
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2, const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) { const int32_t speedRw3, double *rwTrqNs) {
if (not allRwAvabilable) {
return;
}
// concentrate RW speeds as vector and convert to double // concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1), double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)}; static_cast<double>(speedRw2), static_cast<double>(speedRw3)};

3
mission/controller/acs/control/PtgCtrl.h
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@ -33,7 +33,8 @@ class PtgCtrl {
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError, void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws); const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters, void ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2, const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs); const int32_t speedRw3, double *rwTrqNs);