41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
#ifndef SAFECTRL_H_
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#define SAFECTRL_H_
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include "../AcsParameters.h"
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#include "../SensorValues.h"
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#include "eive/resultClassIds.h"
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class SafeCtrl {
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public:
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SafeCtrl(AcsParameters *acsParameters_);
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virtual ~SafeCtrl();
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static const uint8_t INTERFACE_ID = CLASS_ID::ACS_SAFE;
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static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
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ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel,
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bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
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double *satRateMekf, bool rateMekfValid, double *sunDirRef,
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double *satRatRef, // From Guidance (!)
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double *outputAngle, double *outputMagMomB);
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ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
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bool sunRateBValid, double *magFieldB, bool magFieldBValid,
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double *magRateB, bool magRateBValid, double *sunDirRef,
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double *satRateRef, double *outputAngle, double *outputMagMomB);
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protected:
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private:
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AcsParameters *acsParameters;
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double gainMatrixInertia[3][3];
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double magFieldBState[3];
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timeval magFieldBStateTime;
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};
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#endif /* ACS_CONTROL_SAFECTRL_H_ */
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