eive-obsw/mission/controller/acs/Guidance.h
2024-01-29 11:08:47 +01:00

82 lines
4.0 KiB
C++

#ifndef GUIDANCE_H_
#define GUIDANCE_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <time.h>
#include <cmath>
#include <filesystem>
#include <string>
class Guidance {
public:
Guidance(AcsParameters *acsParameters_);
virtual ~Guidance();
void getTargetParamsSafe(double sunTargetSafe[3]);
ReturnValue_t solarArrayDeploymentComplete();
void resetValues();
// Function to get the target quaternion and reference rotation rate from gps position and
// position of the ground station
void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
double sunDirI[3], double refDirB[3], double quatBI[4],
double targetQuat[4], double targetSatRotRate[3]);
void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
// Function to get the target quaternion and reference rotation rate for sun pointing after ground
// station
void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4],
double targetSatRotRate[3]);
// Function to get the target quaternion and refence rotation rate from gps position for Nadir
// pointing
void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
double targetQuat[4], double refDirB[3], double refSatRate[3]);
void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
double posSatE[3], double velSatE[3], double targetQuat[4],
double refSatRate[3]);
// @note: Calculates the error quaternion between the current orientation and the target
// quaternion, considering a reference quaternion. Additionally the difference between the actual
// and a desired satellite rotational rate is calculated, again considering a reference rotational
// rate. Lastly gives back the error angle of the error quaternion.
void 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);
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
double &errorAngle);
void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
double quatInertialTarget[4], double *targetSatRotRate);
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h"
ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private:
const AcsParameters *acsParameters;
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
bool strBlindAvoidFlag = false;
double quatIXprev[4] = {0, 0, 0, 0};
static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";
};
#endif /* ACS_GUIDANCE_H_ */