/*
 * Detumble.cpp
 *
 *  Created on: 17 Aug 2022
 *      Author: Robin Marquardt
 */


#include "Detumble.h"
#include "../util/MathOperations.h"
#include <math.h>
#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>


Detumble::Detumble(AcsParameters *acsParameters_){
	loadAcsParameters(acsParameters_);
}

Detumble::~Detumble(){

}

void Detumble::loadAcsParameters(AcsParameters *acsParameters_){

	detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
	magnetorquesParameter = &(acsParameters_->magnetorquesParameter);

}

ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
                                const double *magField, const bool magFieldValid, double *magMom) {
  if (!magRateValid || !magFieldValid) {
    return DETUMBLE_NO_SENSORDATA;
  }
  double gain = detumbleCtrlParameters->gainD;
  double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
  VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
  return returnvalue::OK;
}

ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
                                    double *magMom) {
  if (!magRateValid) {
    return DETUMBLE_NO_SENSORDATA;
  }

  double dipolMax = magnetorquesParameter->DipolMax;
  for (int i = 0; i < 3; i++) {
    magMom[i] = -dipolMax * sign(magRate[i]);
  }

  return returnvalue::OK;
}