eive-obsw/mission/controller/acs/control/Detumble.cpp
meggert 1e521f0575
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detumble mode changes
2023-04-14 11:38:05 +02:00

46 lines
1.8 KiB
C++

#include "Detumble.h"
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>
Detumble::Detumble() {}
Detumble::~Detumble() {}
uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
const bool magFieldRateValid, const bool useFullDetumbleLaw) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (satRotRateValid and useFullDetumbleLaw) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
} else if (magFieldRateValid) {
return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
}
void Detumble::bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
double gain) {
// convert uT to T
double magFieldBT[3];
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// control law
double factor = gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldBT, magFieldNormed, 3);
VectorOperations<double>::cross(satRotRateB, magFieldNormed, crossProduct);
VectorOperations<double>::mulScalar(crossProduct, factor, magMomB, 3);
}
void Detumble::bDotLaw(const double *magRateB, const double *magFieldB, double *magMomB,
double gain) {
// convert uT to T
double magFieldBT[3], magRateBT[3];
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
VectorOperations<double>::mulScalar(magRateB, 1e-6, magRateBT, 3);
// control law
double factor = -gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(magRateBT, factor, magMomB, 3);
}