eive-obsw/mission/controller/acs/control/PtgCtrl.h
meggert 557051ba37
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detumble fixes and improvements
2024-02-29 10:25:02 +01:00

63 lines
2.8 KiB
C++

#ifndef PTGCTRL_H_
#define PTGCTRL_H_
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <mission/acs/defs.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <cmath>
class PtgCtrl {
/*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorquer for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
PtgCtrl(AcsParameters *acsParameters_);
virtual ~PtgCtrl();
acs::ControlModeStrategy pointingCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool strValid, const bool questValid,
const bool fusedRateValid,
const uint8_t rotRateSource,
const uint8_t mekfEnabled);
/* @brief: Calculates the needed torque for the pointing control mechanism
*/
void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
void ptgNullspace(const bool allRwAvabilable,
AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs);
void ptgDesaturation(const bool allRwAvabilable, const acsctrl::RwAvail *rwAvail,
AcsParameters::PointingLawParameters *pointingLawParameters,
const double *magFieldB, const bool magFieldBValid, const int32_t speedRw0,
const int32_t speedRw1, const int32_t speedRw2, const int32_t speedRw3,
double *mgtDpDes);
/* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after anti-stiction
*/
void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
private:
const AcsParameters *acsParameters;
static constexpr double RPM_TO_RAD_PER_SEC = (2 * M_PI) / 60;
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */