80 lines
3.1 KiB
C++
80 lines
3.1 KiB
C++
#include "ActuatorCmd.h"
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#include <fsfw/globalfunctions/constants.h>
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <cmath>
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
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ActuatorCmd::~ActuatorCmd() {}
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void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
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// Scaling the commanded torque to a maximum value
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double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
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double maxValue = 0;
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for (int i = 0; i < 4; i++) { // size of torque, always 4 ?
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if (abs(rwTrq[i]) > maxValue) {
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maxValue = abs(rwTrq[i]);
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}
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}
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if (maxValue > maxTrq) {
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double scalingFactor = maxTrq / maxValue;
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VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrqScaled, 4);
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}
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}
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void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
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const int32_t speedRw2, const int32_t speedRw3,
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const double *rwTorque, int32_t *rwCmdSpeed) {
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using namespace Math;
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// Calculating the commanded speed in RPM for every reaction wheel
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int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
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double deltaSpeed[4] = {0, 0, 0, 0};
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double commandTime = acsParameters.onBoardParams.sampleTime,
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inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
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double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
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// W_RW = Torque_RW / I_RW * delta t [rad/s]
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double factor = commandTime / inertiaWheel * radToRpm;
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int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
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VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
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for (int i = 0; i < 4; i++) {
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deltaSpeedInt[i] = std::round(deltaSpeed[i]);
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}
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VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
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VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
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}
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void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
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// Convert to actuator frame
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double dipolMomentActuatorDouble[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
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dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
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// Scaling along largest element if dipol exceeds maximum
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double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
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double maxValue = 0;
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for (int i = 0; i < 3; i++) {
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if (abs(dipolMomentActuator[i]) > maxDipol) {
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maxValue = abs(dipolMomentActuator[i]);
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}
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}
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if (maxValue > maxDipol) {
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double scalingFactor = maxDipol / maxValue;
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VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
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dipolMomentActuatorDouble, 3);
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}
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// scale dipole from 1 Am^2 to 1e^-4 Am^2
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VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
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for (int i = 0; i < 3; i++) {
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dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
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}
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}
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