Marius Eggert
84fc44fd5f
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
/*
|
|
* ActuatorCmd.h
|
|
*
|
|
* Created on: 4 Aug 2022
|
|
* Author: Robin Marquardt
|
|
*/
|
|
|
|
#ifndef ACTUATORCMD_H_
|
|
#define ACTUATORCMD_H_
|
|
|
|
|
|
#include "AcsParameters.h"
|
|
#include "SensorProcessing.h"
|
|
#include "MultiplicativeKalmanFilter.h"
|
|
#include "SensorValues.h"
|
|
#include "OutputValues.h"
|
|
|
|
class ActuatorCmd{
|
|
public:
|
|
ActuatorCmd(AcsParameters *acsParameters_); //Input mode ?
|
|
virtual ~ActuatorCmd();
|
|
|
|
/*
|
|
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction wheels, also
|
|
* will calculate the needed revolutions per minute for the RWs, which will be given
|
|
* as Input to the RWs
|
|
* @param: rwTrqIn given torque from pointing controller
|
|
* rwTrqNS Nullspace torque
|
|
* rwCmdSpeed output revolutions per minute for every reaction wheel
|
|
*/
|
|
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
|
|
const int32_t *speedRw2, const int32_t *speedRw3, const double *rwTrqIn,
|
|
const double *rwTrqNS, double *rwCmdSpeed);
|
|
|
|
/*
|
|
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
|
|
*
|
|
* @param: dipolMoment given dipol moment in spacecraft frame
|
|
* dipolMomentUnits resulting dipol moment for every unit
|
|
*/
|
|
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
|
|
|
|
protected:
|
|
|
|
private:
|
|
AcsParameters acsParameters;
|
|
};
|
|
|
|
#endif /* ACTUATORCMD_H_ */
|