53 lines
1.9 KiB
C++
53 lines
1.9 KiB
C++
#ifndef SAFECTRL_H_
|
|
#define SAFECTRL_H_
|
|
|
|
#include <eive/resultClassIds.h>
|
|
#include <mission/acs/defs.h>
|
|
#include <mission/controller/acs/AcsParameters.h>
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
class SafeCtrl {
|
|
public:
|
|
SafeCtrl(AcsParameters *acsParameters_);
|
|
virtual ~SafeCtrl();
|
|
|
|
acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
|
|
const bool satRotRateValid, const bool sunDirValid,
|
|
const uint8_t mekfEnabled, const uint8_t dampingEnabled);
|
|
|
|
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
|
|
const double *quatBI, const double *sunDirRefB, double *magMomB,
|
|
double &errorAngle);
|
|
|
|
void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
|
|
const double *sunDirRefB, double *magMomB, double &errorAngle);
|
|
|
|
void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
|
|
double *magMomB, double &errorAngle);
|
|
|
|
void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
|
|
|
|
void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
|
|
double &errorAngle, const double gainParallel,
|
|
const double gainOrtho);
|
|
|
|
void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
|
|
const double gainAlign);
|
|
|
|
void calculateMagneticMoment(double *magMomB);
|
|
|
|
protected:
|
|
private:
|
|
AcsParameters *acsParameters;
|
|
double magFieldBT[3] = {0, 0, 0};
|
|
double satRotRateParallelB[3] = {0, 0, 0};
|
|
double satRotRateOrthogonalB[3] = {0, 0, 0};
|
|
double cmdParallel[3] = {0, 0, 0};
|
|
double cmdOrtho[3] = {0, 0, 0};
|
|
double cmdAlign[3] = {0, 0, 0};
|
|
double cmdTorque[3] = {0, 0, 0};
|
|
};
|
|
|
|
#endif /* ACS_CONTROL_SAFECTRL_H_ */
|