48 lines
1.9 KiB
C++
48 lines
1.9 KiB
C++
#include "Detumble.h"
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <math.h>
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Detumble::Detumble() {}
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Detumble::~Detumble() {}
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acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
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const bool satRotRateValid,
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const bool magFieldRateValid,
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const bool useFullDetumbleLaw) {
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if (not magFieldValid) {
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return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
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} else if (satRotRateValid and useFullDetumbleLaw) {
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return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
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} else if (magFieldRateValid) {
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return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
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} else {
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return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
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}
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}
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void Detumble::bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
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double gain) {
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// convert uT to T
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double magFieldBT[3];
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VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
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// control law
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double factor = gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
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double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0};
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VectorOperations<double>::normalize(magFieldBT, magFieldNormed, 3);
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VectorOperations<double>::cross(satRotRateB, magFieldNormed, crossProduct);
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VectorOperations<double>::mulScalar(crossProduct, factor, magMomB, 3);
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}
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void Detumble::bDotLaw(const double *magRateB, const double *magFieldB, double *magMomB,
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double gain) {
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// convert uT to T
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double magFieldBT[3], magRateBT[3];
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VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
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VectorOperations<double>::mulScalar(magRateB, 1e-6, magRateBT, 3);
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// control law
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double factor = -gain / pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
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VectorOperations<double>::mulScalar(magRateBT, factor, magMomB, 3);
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}
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