meggert
64d105cf87
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524 lines
25 KiB
C++
524 lines
25 KiB
C++
#include "Guidance.h"
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Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
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Guidance::~Guidance() {}
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[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
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double velSatE[3], double sunDirI[3],
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double refDirB[3], double quatBI[4],
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double targetQuat[4],
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double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to ECEF
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double targetE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters->targetModeControllerParameters.latitudeTgt,
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acsParameters->targetModeControllerParameters.longitudeTgt,
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acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
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// target direction in the ECEF frame
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// transformation between ECEF and Body frame
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double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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QuaternionOperations::toDcm(quatBI, dcmBI);
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MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
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// target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
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// rotation quaternion from two vectors
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double refDir[3] = {0, 0, 0};
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refDir[0] = acsParameters->targetModeControllerParameters.refDirection[0];
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refDir[1] = acsParameters->targetModeControllerParameters.refDirection[1];
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refDir[2] = acsParameters->targetModeControllerParameters.refDirection[2];
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double noramlizedTargetDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
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VectorOperations<double>::normalize(refDir, refDir, 3);
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double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
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double normRefDir = VectorOperations<double>::norm(refDir, 3);
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double crossDir[3] = {0, 0, 0};
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double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
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VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
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targetQuat[0] = crossDir[0];
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targetQuat[1] = crossDir[1];
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targetQuat[2] = crossDir[2];
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targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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//-------------------------------------------------------------------------------------
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// calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
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// velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
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MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
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double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
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MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
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VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
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double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
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double normRefSatRate = normVelSatB / normTargetDirB;
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double satRateDir[3] = {0, 0, 0};
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VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
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VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
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VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate in case of star tracker blinding
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//-------------------------------------------------------------------------------------
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if (acsParameters->targetModeControllerParameters.avoidBlindStr) {
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double sunDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
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double exclAngle = acsParameters->strParameters.exclusionAngle,
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blindStart = acsParameters->targetModeControllerParameters.blindAvoidStart,
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blindEnd = acsParameters->targetModeControllerParameters.blindAvoidStop;
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double sightAngleSun =
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VectorOperations<double>::dot(acsParameters->strParameters.boresightAxis, sunDirB);
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if (!(strBlindAvoidFlag)) {
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double critSightAngle = blindStart * exclAngle;
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if (sightAngleSun < critSightAngle) {
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strBlindAvoidFlag = true;
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}
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} else {
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if (sightAngleSun < blindEnd * exclAngle) {
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double normBlindRefRate = acsParameters->targetModeControllerParameters.blindRotRate;
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double blindRefRate[3] = {0, 0, 0};
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if (sunDirB[1] < 0) {
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blindRefRate[0] = normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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} else {
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blindRefRate[0] = -normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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}
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VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
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} else {
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strBlindAvoidFlag = false;
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}
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}
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}
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// revert calculated quaternion from qBX to qIX
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double quatIB[4] = {0, 0, 0, 1};
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QuaternionOperations::inverse(quatBI, quatIB);
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QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
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}
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void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta,
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double posSatE[3], double velSatE[3], double targetQuat[4],
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double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for target pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double targetE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters->targetModeControllerParameters.latitudeTgt,
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acsParameters->targetModeControllerParameters.longitudeTgt,
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acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
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VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
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// x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxis, 3);
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// transform velocity into inertial frame
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double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
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VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
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// orbital normal vector of target and velocity vector
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double orbitalNormalI[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
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VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
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// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
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// resolution
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// z-axis completes RHS
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxis, yAxis, zAxis);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
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targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta,
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double posSatE[3], double sunDirI[3], double targetQuat[4],
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double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for ground station pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double groundStationE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters->gsTargetModeControllerParameters.latitudeTgt,
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acsParameters->gsTargetModeControllerParameters.longitudeTgt,
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acsParameters->gsTargetModeControllerParameters.altitudeTgt, groundStationE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
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VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
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// negative x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
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VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
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// get sun vector model in ECI
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VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
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// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
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// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
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double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
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xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
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double sunParallel[3], zAxis[3];
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VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
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VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
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VectorOperations<double>::normalize(zAxis, zAxis, 3);
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// y-axis completes RHS
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double yAxis[3];
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VectorOperations<double>::cross(zAxis, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// join transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmTgt, targetQuat);
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int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
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targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4],
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double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to sun
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//-------------------------------------------------------------------------------------
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// positive z-Axis of EIVE in direction of sun
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxis, 3);
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// assign helper vector (north pole inertial)
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double helperVec[3] = {0, 0, 1};
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// construct y-axis from helper vector and z-axis
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxis, helperVec, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// x-axis completes RHS
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxis, zAxis, xAxis);
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VectorOperations<double>::normalize(xAxis, xAxis, 3);
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// join transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmTgt, targetQuat);
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//----------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//----------------------------------------------------------------------------
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int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
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targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
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}
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[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
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double posSatE[3], double quatBI[4],
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double targetQuat[4], double refDirB[3],
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double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// transformation between ECEF and Body frame
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double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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QuaternionOperations::toDcm(quatBI, dcmBI);
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MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
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// target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
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// rotation quaternion from two vectors
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double refDir[3] = {0, 0, 0};
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refDir[0] = acsParameters->nadirModeControllerParameters.refDirection[0];
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refDir[1] = acsParameters->nadirModeControllerParameters.refDirection[1];
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refDir[2] = acsParameters->nadirModeControllerParameters.refDirection[2];
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double noramlizedTargetDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
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VectorOperations<double>::normalize(refDir, refDir, 3);
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double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
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double normRefDir = VectorOperations<double>::norm(refDir, 3);
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double crossDir[3] = {0, 0, 0};
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double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
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VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
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targetQuat[0] = crossDir[0];
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targetQuat[1] = crossDir[1];
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targetQuat[2] = crossDir[2];
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targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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refSatRate[0] = 0;
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refSatRate[1] = 0;
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refSatRate[2] = 0;
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// revert calculated quaternion from qBX to qIX
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double quatIB[4] = {0, 0, 0, 1};
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QuaternionOperations::inverse(quatBI, quatIB);
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QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
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}
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void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
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double posSatE[3], double velSatE[3],
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double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// satellite position in inertial reference frame
|
|
double posSatI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
|
|
|
|
// negative x-axis aligned with position vector
|
|
// this aligns with the camera, E- and S-band antennas
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(posSatI, xAxis, 3);
|
|
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
|
|
|
|
// make z-Axis parallel to major part of camera resolution
|
|
double zAxis[3] = {0, 0, 0};
|
|
double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
|
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MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
|
|
MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
|
|
VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
|
|
VectorOperations<double>::cross(xAxis, velocityI, zAxis);
|
|
VectorOperations<double>::normalize(zAxis, zAxis, 3);
|
|
|
|
// y-Axis completes RHS
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
|
|
|
|
// join transformation matrix
|
|
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
|
|
|
|
int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate);
|
|
}
|
|
|
|
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
|
|
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
|
|
double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
|
|
// First calculate error quaternion between current and target orientation
|
|
double invTargetQuat[4] = {0, 0, 0, 0};
|
|
QuaternionOperations::inverse(targetQuat, invTargetQuat);
|
|
QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
|
|
// Last calculate add rotation from reference quaternion
|
|
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Calculate error satellite rotational rate
|
|
// Convert target rotational rate into body RF
|
|
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
|
|
QuaternionOperations::inverse(errorQuat, errorQuatInv);
|
|
QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
|
|
// Combine the target and reference satellite rotational rates
|
|
double combinedRefSatRotRate[3] = {0, 0, 0};
|
|
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
|
|
// Then subtract the combined required satellite rotational rates from the actual rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
|
|
}
|
|
|
|
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
|
|
double targetSatRotRate[3], double errorQuat[4],
|
|
double errorSatRotRate[3], double &errorAngle) {
|
|
// First calculate error quaternion between current and target orientation
|
|
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Calculate error satellite rotational rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
|
|
}
|
|
|
|
void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
|
|
double quatIX[4], double *refSatRate) {
|
|
if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
|
|
std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
|
|
}
|
|
if (timeDelta != 0.0) {
|
|
QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
|
|
} else {
|
|
std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
|
|
}
|
|
std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
|
|
}
|
|
|
|
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
|
|
double *rwPseudoInv) {
|
|
bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());
|
|
bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
|
|
bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
|
|
bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());
|
|
|
|
if (rw1valid and rw2valid and rw3valid and rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
|
|
12 * sizeof(double));
|
|
return acsctrl::SINGLE_RW_UNAVAILABLE;
|
|
} else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
|
|
12 * sizeof(double));
|
|
return acsctrl::SINGLE_RW_UNAVAILABLE;
|
|
} else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
|
|
12 * sizeof(double));
|
|
return acsctrl::SINGLE_RW_UNAVAILABLE;
|
|
} else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
|
|
12 * sizeof(double));
|
|
return acsctrl::SINGLE_RW_UNAVAILABLE;
|
|
}
|
|
return acsctrl::MULTIPLE_RW_UNAVAILABLE;
|
|
}
|
|
|
|
void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
|
|
|
|
void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
|
|
std::error_code e;
|
|
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
|
|
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDir,
|
|
3 * sizeof(double));
|
|
} else {
|
|
std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDirLeop,
|
|
3 * sizeof(double));
|
|
}
|
|
}
|
|
|
|
ReturnValue_t Guidance::solarArrayDeploymentComplete() {
|
|
std::error_code e;
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_0_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_1_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|