Prevent STR Blinding #859
@ -22,7 +22,7 @@ class AcsParameters : public HasParametersIF {
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uint8_t fusedRateSafeDuringEclipse = true;
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uint8_t fusedRateFromStr = false;
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uint8_t fusedRateFromQuest = false;
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double questFilterWeight = 0.0;
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double questFilterWeight = 0.9;
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} onBoardParams;
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struct InertiaEIVE {
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@ -854,7 +854,7 @@ class AcsParameters : public HasParametersIF {
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struct PointingLawParameters {
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double zeta = 0.3;
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double om = 0.3;
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double omMax = 1 * M_PI / 180;
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double omMax = 1 * DEG2RAD;
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double qiMin = 0.1;
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double gainNullspace = 0.01;
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@ -876,15 +876,15 @@ class AcsParameters : public HasParametersIF {
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uint8_t timeElapsedMax = 10; // rot rate calculations
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// Default is Stuttgart GS
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double latitudeTgt = 48.7495 * M_PI / 180.; // [rad] Latitude
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double longitudeTgt = 9.10384 * M_PI / 180.; // [rad] Longitude
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double altitudeTgt = 500; // [m]
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double latitudeTgt = 48.7495 * DEG2RAD; // [rad] Latitude
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double longitudeTgt = 9.10384 * DEG2RAD; // [rad] Longitude
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double altitudeTgt = 500; // [m]
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// For one-axis control:
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uint8_t avoidBlindStr = true;
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double blindAvoidStart = 1.5;
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double blindAvoidStop = 2.5;
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double blindRotRate = 1 * M_PI / 180;
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double blindRotRate = 1 * DEG2RAD;
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} targetModeControllerParameters;
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struct GsTargetModeControllerParameters : PointingLawParameters {
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@ -892,9 +892,9 @@ class AcsParameters : public HasParametersIF {
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uint8_t timeElapsedMax = 10; // rot rate calculations
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// Default is Stuttgart GS
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double latitudeTgt = 48.7495 * M_PI / 180.; // [rad] Latitude
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double longitudeTgt = 9.10384 * M_PI / 180.; // [rad] Longitude
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double altitudeTgt = 500; // [m]
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double latitudeTgt = 48.7495 * DEG2RAD; // [rad] Latitude
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double longitudeTgt = 9.10384 * DEG2RAD; // [rad] Longitude
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double altitudeTgt = 500; // [m]
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} gsTargetModeControllerParameters;
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struct NadirModeControllerParameters : PointingLawParameters {
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@ -911,7 +911,7 @@ class AcsParameters : public HasParametersIF {
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} inertialModeControllerParameters;
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struct StrParameters {
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double exclusionAngle = 20 * M_PI / 180;
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double exclusionAngle = 20 * DEG2RAD;
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double boresightAxis[3] = {0.7593, 0.0000, -0.6508}; // geometry frame
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} strParameters;
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@ -925,25 +925,25 @@ class AcsParameters : public HasParametersIF {
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struct SunModelParameters {
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float domega = 36000.771;
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float omega_0 = 280.46 * M_PI / 180.; // RAAN plus argument of
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// perigee
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float m_0 = 357.5277; // coefficients for mean anomaly
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float dm = 35999.049; // coefficients for mean anomaly
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float e = 23.4392911 * M_PI / 180.; // angle of earth's rotation axis
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float e1 = 0.74508 * M_PI / 180.;
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float omega_0 = 280.46 * DEG2RAD; // RAAN plus argument of
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// perigee
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float m_0 = 357.5277; // coefficients for mean anomaly
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float dm = 35999.049; // coefficients for mean anomaly
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float e = 23.4392911 * DEG2RAD; // angle of earth's rotation axis
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float e1 = 0.74508 * DEG2RAD;
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float p1 = 6892. / 3600. * M_PI / 180.; // some parameter
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float p2 = 72. / 3600. * M_PI / 180.; // some parameter
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float p1 = 6892. / 3600. * DEG2RAD; // some parameter
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float p2 = 72. / 3600. * DEG2RAD; // some parameter
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} sunModelParameters;
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struct KalmanFilterParameters {
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double sensorNoiseSTR = 0.1 * M_PI / 180;
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double sensorNoiseSS = 8 * M_PI / 180;
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double sensorNoiseMAG = 4 * M_PI / 180;
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double sensorNoiseGYR = 0.1 * M_PI / 180;
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double sensorNoiseSTR = 0.1 * DEG2RAD;
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double sensorNoiseSS = 8 * DEG2RAD;
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double sensorNoiseMAG = 4 * DEG2RAD;
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double sensorNoiseGYR = 0.1 * DEG2RAD;
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double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180; // Angular Random Walk
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double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600; // Bias Stability
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double sensorNoiseArwGYR = 3 * 0.0043 / sqrt(10) * DEG2RAD; // Angular Random Walk
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double sensorNoiseBsGYR = 3 * DEG2RAD / 3600; // Bias Stability
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} kalmanFilterParameters;
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struct MagnetorquerParameter {
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@ -959,12 +959,14 @@ class AcsParameters : public HasParametersIF {
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struct DetumbleParameter {
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uint8_t detumblecounter = 75; // 30 s
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double omegaDetumbleStart = 2 * M_PI / 180;
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double omegaDetumbleEnd = 1 * M_PI / 180;
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double omegaDetumbleStart = 2 * DEG2RAD;
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double omegaDetumbleEnd = 1 * DEG2RAD;
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double gainBdot = pow(10.0, -3.3);
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double gainFull = pow(10.0, -2.3);
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uint8_t useFullDetumbleLaw = false;
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} detumbleParameter;
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};
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private:
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static constexpr double DEG2RAD = M_PI / 180.;
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};
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#endif /* ACSPARAMETERS_H_ */
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