60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/*
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* Guidance.h
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*
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* Created on: 6 Jun 2022
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* Author: Robin Marquardt
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*/
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#ifndef GUIDANCE_H_
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#define GUIDANCE_H_
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#include "AcsParameters.h"
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#include "SensorValues.h"
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#include "OutputValues.h"
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#include <time.h>
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class Guidance {
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public:
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Guidance(AcsParameters *acsParameters_);
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virtual ~Guidance();
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void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
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// Function to get the target quaternion and refence rotation rate from gps position and position of the ground station
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void targetQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
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double targetQuat[4], double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate for sun pointing after ground station
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void sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
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double targetQuat[4], double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate from gps position for Nadir pointing
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void quatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
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double targetQuat[4], double refSatRate[3]);
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void quatNadirPtgFLPVersion(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
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double targetQuat[4], double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate from parameters for inertial pointing
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void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
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// @note: compares target Quaternion and reference quaternion, also actual satellite rate and desired
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void comparePtg( double targetQuat[4], ACS::OutputValues *outputValues, double refSatRate[3], double quatError[3], double deltaRate[3] );
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// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid reation wheel
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// maybe can be done in "commanding.h"
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void getDistributionMatrixRw(ACS::SensorValues* sensorValues, double *rwPseudoInv);
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private:
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AcsParameters acsParameters;
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bool strBlindAvoidFlag = false;
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timeval timeSavedQuaternionNadir;
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double savedQuaternionNadir[4] = {0, 0, 0, 0};
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double omegaRefSavedNadir[3] = {0, 0, 0};
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};
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#endif /* ACS_GUIDANCE_H_ */
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