meggert
ffe419e1ab
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77 lines
3.1 KiB
C++
77 lines
3.1 KiB
C++
#include "ActuatorCmd.h"
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#include <fsfw/globalfunctions/constants.h>
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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ActuatorCmd::ActuatorCmd() {}
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ActuatorCmd::~ActuatorCmd() {}
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void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
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uint8_t maxIdx = 0;
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VectorOperations<double>::maxAbsValue(rwTrq, 4, &maxIdx);
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double maxValue = rwTrq[maxIdx];
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if (maxValue > maxTorque) {
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double scalingFactor = maxTorque / maxValue;
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VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrq, 4);
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}
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}
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void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
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const int32_t speedRw2, const int32_t speedRw3,
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const double sampleTime, const double inertiaWheel,
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const int32_t maxRwSpeed, const double *rwTorque,
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int32_t *rwCmdSpeed) {
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// concentrate RW speed values (in 0.1 [RPM]) in vector
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int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
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// calculate required RW speed as sum of current RW speed and RW speed delta
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// delta w_rw = delta t / I_RW * torque_RW [rad/s]
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double deltaSpeed[4] = {0, 0, 0, 0};
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const double factor = sampleTime / inertiaWheel * RAD_PER_SEC_TO_RPM * 10;
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VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
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// convert double to int32
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int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
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for (int i = 0; i < 4; i++) {
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deltaSpeedInt[i] = std::round(deltaSpeed[i]);
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}
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// sum of current RW speed and RW speed delta
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VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
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// crop values which would exceed the maximum possible RPM
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for (uint8_t i = 0; i < 4; i++) {
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if (rwCmdSpeed[i] > maxRwSpeed) {
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rwCmdSpeed[i] = maxRwSpeed;
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} else if (rwCmdSpeed[i] < -maxRwSpeed) {
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rwCmdSpeed[i] = -maxRwSpeed;
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}
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}
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}
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void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
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const double *dipoleMoment, int16_t *dipoleMomentActuator) {
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// convert to actuator frame
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double dipoleMomentActuatorDouble[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3, 3,
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1);
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// scaling along largest element if dipole exceeds maximum
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uint8_t maxIdx = 0;
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VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
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double maxAbsValue = std::abs(dipoleMomentActuatorDouble[maxIdx]);
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if (maxAbsValue > maxDipole) {
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double scalingFactor = maxDipole / maxAbsValue;
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VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, scalingFactor,
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dipoleMomentActuatorDouble, 3);
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}
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// scale dipole from 1 Am^2 to 1e^-4 Am^2
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VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble, 3);
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for (int i = 0; i < 3; i++) {
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dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]);
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}
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}
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