65 lines
2.8 KiB
C++
65 lines
2.8 KiB
C++
#ifndef GUIDANCE_H_
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#define GUIDANCE_H_
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#include <fsfw/coordinates/CoordinateTransformations.h>
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#include <fsfw/datapool/PoolReadGuard.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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#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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#include <cmath>
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#include <filesystem>
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#include <string>
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class Guidance {
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public:
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Guidance(AcsParameters *acsParameters_);
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virtual ~Guidance();
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void getTargetParamsSafe(double sunTargetSafe[3]);
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ReturnValue_t solarArrayDeploymentComplete();
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void resetValues();
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void targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta, const double sunDirI[3],
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const double posSatF[4], double targetQuat[4], double targetSatRotRate[3]);
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void targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
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const double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
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void targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
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const double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
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void targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
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const double velSatF[3], double targetQuat[4], double refSatRate[3]);
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void targetRotationRate(const double timeDelta, double quatInertialTarget[4],
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double *targetSatRotRate);
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void limitReferenceRotation(const double xAxisIX[3], double quatIX[4]);
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void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
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double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
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void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
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double &errorAngle);
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ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv,
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acsctrl::RwAvail *rwAvail);
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private:
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const AcsParameters *acsParameters;
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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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bool strBlindAvoidFlag = false;
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double quatIXprev[4] = {0, 0, 0, 0};
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double xAxisIXprev[3] = {0, 0, 0};
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static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
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static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";
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};
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#endif /* ACS_GUIDANCE_H_ */
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