Marius Eggert
b49d37e15a
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72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
/*
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* PtgCtrl.h
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*
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* Created on: 17 Jul 2022
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* Author: Robin Marquardt
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*
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* @brief: This class handles the pointing control mechanism. Calculation of an commanded
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* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
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*
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* @note: A description of the used algorithms can be found in
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
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*/
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#ifndef PTGCTRL_H_
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#define PTGCTRL_H_
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include "../AcsParameters.h"
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#include "../SensorValues.h"
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#include "../config/classIds.h"
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class PtgCtrl {
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public:
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/* @brief: Constructor
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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*/
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PtgCtrl(AcsParameters *acsParameters_);
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virtual ~PtgCtrl();
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static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
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static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
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/* @brief: Load AcsParameters for this class
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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*/
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void loadAcsParameters(AcsParameters *acsParameters_);
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/* @brief: Calculates the needed torque for the pointing control mechanism
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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*/
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void ptgLaw(const double mode, const double *qError, const double *deltaRate,
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const double *rwPseudoInv, double *torqueRws);
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void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
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int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
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double *mgtDpDes);
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void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
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const int32_t *speedRw3, double *rwTrqNs);
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/* @brief: Commands the stiction torque in case wheel speed is to low
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* @param: rwAvailable Boolean Flag for all reaction wheels
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* omegaRw current wheel speed of reaction wheels
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* torqueCommand modified torque after antistiction
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*/
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void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
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private:
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AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
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AcsParameters::RwHandlingParameters *rwHandlingParameters;
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AcsParameters::InertiaEIVE *inertiaEIVE;
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AcsParameters::RwMatrices *rwMatrices;
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double torqueMemory[4];
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double omegaMemory[4];
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};
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#endif /* ACS_CONTROL_PTGCTRL_H_ */
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