48 lines
2.5 KiB
C++
48 lines
2.5 KiB
C++
#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
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#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
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#include <fsfw/datapool/PoolReadGuard.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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#include <mission/controller/acs/AcsParameters.h>
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#include <mission/controller/acs/SensorValues.h>
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#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
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class FusedRotationEstimation {
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public:
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FusedRotationEstimation(AcsParameters *acsParameters_);
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void estimateFusedRotationRate(const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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ACS::SensorValues *sensorValues,
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acsctrl::AttitudeEstimationData *attitudeEstimationData,
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const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
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acsctrl::FusedRotRateData *fusedRotRateData);
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protected:
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private:
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static constexpr double ZERO_VEC3[3] = {0, 0, 0};
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static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
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AcsParameters *acsParameters;
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double quatOldQuest[4] = {0, 0, 0, 0};
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double quatOldStr[4] = {0, 0, 0, 0};
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double rotRateOldB[3] = {0, 0, 0};
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void estimateFusedRotationRateSusMgm(acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
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void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
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void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData,
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const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
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void estimateFusedRotationRateStr(ACS::SensorValues *sensorValues, const double timeDelta,
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acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
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};
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#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */
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