573 lines
27 KiB
C++
573 lines
27 KiB
C++
#include "Guidance.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 <math.h>
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#include <filesystem>
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#include "string.h"
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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Guidance::Guidance(AcsParameters *acsParameters_) : acsParameters(*acsParameters_) {}
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Guidance::~Guidance() {}
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void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3],
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double sunDirI[3], double refDirB[3], double quatBI[4],
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double targetQuat[4], double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to ECEF
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double targetE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters.targetModeControllerParameters.latitudeTgt,
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acsParameters.targetModeControllerParameters.longitudeTgt,
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acsParameters.targetModeControllerParameters.altitudeTgt, targetE);
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// target direction in the ECEF frame
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// transformation between ECEF and Body frame
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double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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QuaternionOperations::toDcm(quatBI, dcmBI);
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MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
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// target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
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// rotation quaternion from two vectors
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double refDir[3] = {0, 0, 0};
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refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
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refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
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refDir[2] = acsParameters.targetModeControllerParameters.refDirection[2];
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double noramlizedTargetDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
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VectorOperations<double>::normalize(refDir, refDir, 3);
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double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
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double normRefDir = VectorOperations<double>::norm(refDir, 3);
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double crossDir[3] = {0, 0, 0};
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double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
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VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
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targetQuat[0] = crossDir[0];
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targetQuat[1] = crossDir[1];
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targetQuat[2] = crossDir[2];
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targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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//-------------------------------------------------------------------------------------
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// calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
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// velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
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MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
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double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
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MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
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VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
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double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
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double normRefSatRate = normVelSatB / normTargetDirB;
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double satRateDir[3] = {0, 0, 0};
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VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
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VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
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VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate in case of star tracker blinding
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//-------------------------------------------------------------------------------------
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if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
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double sunDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
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double exclAngle = acsParameters.strParameters.exclusionAngle,
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blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
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blindEnd = acsParameters.targetModeControllerParameters.blindAvoidStop;
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double sightAngleSun =
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VectorOperations<double>::dot(acsParameters.strParameters.boresightAxis, sunDirB);
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if (!(strBlindAvoidFlag)) {
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double critSightAngle = blindStart * exclAngle;
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if (sightAngleSun < critSightAngle) {
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strBlindAvoidFlag = true;
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}
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} else {
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if (sightAngleSun < blindEnd * exclAngle) {
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double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
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double blindRefRate[3] = {0, 0, 0};
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if (sunDirB[1] < 0) {
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blindRefRate[0] = normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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} else {
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blindRefRate[0] = -normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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}
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VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
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} else {
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strBlindAvoidFlag = false;
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}
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}
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}
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// revert calculated quaternion from qBX to qIX
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double quatIB[4] = {0, 0, 0, 1};
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QuaternionOperations::inverse(quatBI, quatIB);
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QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
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}
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void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
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double targetQuat[4], double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for target pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double targetE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters.targetModeControllerParameters.latitudeTgt,
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acsParameters.targetModeControllerParameters.longitudeTgt,
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acsParameters.targetModeControllerParameters.altitudeTgt, targetE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
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VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
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// x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxis, 3);
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// transform velocity into inertial frame
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double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
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VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
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// orbital normal vector of target and velocity vector
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double orbitalNormalI[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
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VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
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// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
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// resolution
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// z-axis completes RHS
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxis, yAxis, zAxis);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
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targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3],
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double targetQuat[4], double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for ground station pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double groundStationE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters.gsTargetModeControllerParameters.latitudeTgt,
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acsParameters.gsTargetModeControllerParameters.longitudeTgt,
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acsParameters.gsTargetModeControllerParameters.altitudeTgt, groundStationE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
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VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
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// negative x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
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VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
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// get sun vector model in ECI
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VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
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// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
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// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
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double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
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xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
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double sunParallel[3], zAxis[3];
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VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
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VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
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VectorOperations<double>::normalize(zAxis, zAxis, 3);
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// y-axis completes RHS
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double yAxis[3];
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VectorOperations<double>::cross(zAxis, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// join transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmTgt, targetQuat);
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int8_t timeElapsedMax = acsParameters.gsTargetModeControllerParameters.timeElapsedMax;
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targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to sun
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//-------------------------------------------------------------------------------------
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// positive z-Axis of EIVE in direction of sun
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxis, 3);
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// assign helper vector (north pole inertial)
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double helperVec[3] = {0, 0, 1};
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// construct y-axis from helper vector and z-axis
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxis, helperVec, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// x-axis completes RHS
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxis, zAxis, xAxis);
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VectorOperations<double>::normalize(xAxis, xAxis, 3);
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// join transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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QuaternionOperations::fromDcm(dcmTgt, targetQuat);
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//----------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//----------------------------------------------------------------------------
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refSatRate[0] = 0;
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refSatRate[1] = 0;
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refSatRate[2] = 0;
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}
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void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
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double targetQuat[4], double refDirB[3],
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double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// transformation between ECEF and Body frame
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double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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QuaternionOperations::toDcm(quatBI, dcmBI);
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MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
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// target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
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// rotation quaternion from two vectors
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double refDir[3] = {0, 0, 0};
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refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
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refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
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refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
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double noramlizedTargetDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
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VectorOperations<double>::normalize(refDir, refDir, 3);
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double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
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double normRefDir = VectorOperations<double>::norm(refDir, 3);
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double crossDir[3] = {0, 0, 0};
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double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
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VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
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targetQuat[0] = crossDir[0];
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targetQuat[1] = crossDir[1];
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targetQuat[2] = crossDir[2];
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targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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refSatRate[0] = 0;
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refSatRate[1] = 0;
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refSatRate[2] = 0;
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// revert calculated quaternion from qBX to qIX
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double quatIB[4] = {0, 0, 0, 1};
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QuaternionOperations::inverse(quatBI, quatIB);
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QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
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}
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void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
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double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// satellite position in inertial reference frame
|
|
double posSatI[3] = {0, 0, 0};
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|
MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
|
|
|
|
// negative x-axis aligned with position vector
|
|
// this aligns with the camera, E- and S-band antennas
|
|
double xAxis[3] = {0, 0, 0};
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|
VectorOperations<double>::normalize(posSatI, xAxis, 3);
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|
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
|
|
|
|
// make z-Axis parallel to major part of camera resolution
|
|
double zAxis[3] = {0, 0, 0};
|
|
double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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|
MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
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|
MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
|
|
VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
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|
VectorOperations<double>::cross(xAxis, velocityI, zAxis);
|
|
VectorOperations<double>::normalize(zAxis, zAxis, 3);
|
|
|
|
// y-Axis completes RHS
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
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|
|
|
// join transformation matrix
|
|
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
|
|
|
|
int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
|
|
}
|
|
|
|
void Guidance::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) {
|
|
// First calculate error quaternion between current and target orientation
|
|
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
|
|
// Last calculate add rotation from reference quaternion
|
|
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Only give back error satellite rotational rate if orientation has already been aquired
|
|
if (errorAngle < 2. / 180. * M_PI) {
|
|
// First combine the target and reference satellite rotational rates
|
|
double combinedRefSatRotRate[3] = {0, 0, 0};
|
|
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
|
|
// Then substract the combined required satellite rotational rates from the actual rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate,
|
|
3);
|
|
} else {
|
|
// If orientation has not been aquired yet set satellite rotational rate to zero
|
|
errorSatRotRate = 0;
|
|
}
|
|
|
|
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
|
|
// under 150 arcsec ??
|
|
}
|
|
|
|
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
|
|
double targetSatRotRate[3], double errorQuat[4],
|
|
double errorSatRotRate[3], double errorAngle) {
|
|
// First calculate error quaternion between current and target orientation
|
|
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Only give back error satellite rotational rate if orientation has already been aquired
|
|
if (errorAngle < 2. / 180. * M_PI) {
|
|
// Then substract the combined required satellite rotational rates from the actual rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
|
|
} else {
|
|
// If orientation has not been aquired yet set satellite rotational rate to zero
|
|
errorSatRotRate = 0;
|
|
}
|
|
|
|
// target flag in matlab, importance, does look like it only gives feedback if pointing control is
|
|
// under 150 arcsec ??
|
|
}
|
|
|
|
void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
|
|
double *refSatRate) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target rotation rate
|
|
//-------------------------------------------------------------------------------------
|
|
double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
|
|
(timeSavedQuaternion.tv_sec +
|
|
timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
|
|
if (timeElapsed < timeElapsedMax) {
|
|
double qDiff[4] = {0, 0, 0, 0};
|
|
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
|
|
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
|
|
|
|
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
|
|
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
|
|
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
|
|
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
|
|
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
|
|
VectorOperations<double>::add(sum1, sum2, sum, 3);
|
|
VectorOperations<double>::subtract(sum, sum3, sum, 3);
|
|
double omegaRefNew[3] = {0, 0, 0};
|
|
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
|
|
|
|
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
|
|
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
|
|
omegaRefSaved[0] = omegaRefNew[0];
|
|
omegaRefSaved[1] = omegaRefNew[1];
|
|
omegaRefSaved[2] = omegaRefNew[2];
|
|
} else {
|
|
refSatRate[0] = 0;
|
|
refSatRate[1] = 0;
|
|
refSatRate[2] = 0;
|
|
}
|
|
|
|
timeSavedQuaternion = now;
|
|
savedQuaternion[0] = quatInertialTarget[0];
|
|
savedQuaternion[1] = quatInertialTarget[1];
|
|
savedQuaternion[2] = quatInertialTarget[2];
|
|
savedQuaternion[3] = quatInertialTarget[3];
|
|
}
|
|
|
|
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
|
|
double *rwPseudoInv) {
|
|
bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
|
|
bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
|
|
bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
|
|
bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
|
|
|
|
if (rw1valid && rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.pseudoInverse, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without1, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without2, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without3, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without4, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else {
|
|
// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
|
|
// Does not make sense, but is implemented that way in MATLAB ?!
|
|
// Thought: It does not really play a role, because in case there are more then one
|
|
// reaction wheel invalid the pointing control is destined to fail.
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
|
|
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
|
|
std::error_code e;
|
|
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
|
|
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE,
|
|
e)) { // ToDo: if file does not exist anymore
|
|
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
|
|
3 * sizeof(double));
|
|
} else {
|
|
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
|
|
3 * sizeof(double));
|
|
}
|
|
std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
|
|
3 * sizeof(double));
|
|
}
|
|
|
|
ReturnValue_t Guidance::solarArrayDeploymentComplete() {
|
|
std::error_code e;
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_0_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_1_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|