meggert
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64 lines
2.7 KiB
C++
64 lines
2.7 KiB
C++
#ifndef SAFECTRL_H_
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#define SAFECTRL_H_
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#include <eive/resultClassIds.h>
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#include <mission/controller/acs/AcsParameters.h>
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#include <mission/controller/acs/SensorValues.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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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 constexpr uint8_t IF_SAFE_ID = CLASS_ID::ACS_SAFE;
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static constexpr ReturnValue_t SAFECTRL_NO_MAG_FIELD_FOR_CONTROL =
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returnvalue::makeCode(IF_SAFE_ID, 2);
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static constexpr ReturnValue_t SAFECTRL_USE_MEKF = returnvalue::makeCode(IF_SAFE_ID, 3);
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static constexpr ReturnValue_t SAFECTRL_USE_NONMEKF = returnvalue::makeCode(IF_SAFE_ID, 4);
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static constexpr ReturnValue_t SAFECTRL_USE_DAMPING = returnvalue::makeCode(IF_SAFE_ID, 5);
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static constexpr ReturnValue_t SAFECTRL_NO_SENSORS_FOR_CONTROL =
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returnvalue::makeCode(IF_SAFE_ID, 6);
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ReturnValue_t safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
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const bool satRotRateValid, const bool sunDirValid);
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void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
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const double *quatBI, const double *sunDirRefB, const double satRotRateRef,
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const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
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void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
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const double *sunDirRefB, const double satRotRateRef,
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const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
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void safeRateDamping(const double *magFieldB, const double *satRotRateB,
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const double satRotRateRef, const double *sunDirRefB, double *magMomB,
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double &errorAngle);
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void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
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void calculateRotationalRateTorque(const double satRotRateRef, const double *sunDirB,
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const double *sunDirRefB, double &errorAngle,
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const double gainParallel, const double gainOrtho);
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void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
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const double gainAlign, const double inertiaMatrix[3][3]);
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void calculateMagneticMoment(double *magMomB);
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protected:
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private:
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AcsParameters *acsParameters;
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double magFieldBT[3] = {0, 0, 0};
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double satRotRateParallelB[3] = {0, 0, 0};
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double satRotRateOrthogonalB[3] = {0, 0, 0};
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double cmdParallel[3] = {0, 0, 0};
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double cmdOrtho[3] = {0, 0, 0};
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double cmdAlign[3] = {0, 0, 0};
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double cmdTorque[3] = {0, 0, 0};
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};
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#endif /* ACS_CONTROL_SAFECTRL_H_ */
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