eive-obsw/mission/controller/acs/FusedRotationEstimation.h

48 lines
2.5 KiB
C++

#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
class FusedRotationEstimation {
public:
FusedRotationEstimation(AcsParameters *acsParameters_);
void estimateFusedRotationRate(const bool modeIsSafe, acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
ACS::SensorValues *sensorValues,
acsctrl::AttitudeEstimationData *attitudeEstimationData,
const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
acsctrl::FusedRotRateData *fusedRotRateData);
protected:
private:
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
AcsParameters *acsParameters;
double quatOldQuest[4] = {0, 0, 0, 0};
double quatOldStr[4] = {0, 0, 0, 0};
double rotRateOldB[3] = {0, 0, 0};
void estimateFusedRotationRateSusMgm(acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData,
const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
void estimateFusedRotationRateStr(ACS::SensorValues *sensorValues, const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
};
#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */