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