meggert
9041a3376c
Some checks failed
EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit
48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
#ifndef ACTUATORCMD_H_
|
|
#define ACTUATORCMD_H_
|
|
|
|
#include "AcsParameters.h"
|
|
#include "MultiplicativeKalmanFilter.h"
|
|
#include "SensorProcessing.h"
|
|
#include "SensorValues.h"
|
|
|
|
class ActuatorCmd {
|
|
public:
|
|
ActuatorCmd(AcsParameters *acsParameters_); // Input mode ?
|
|
virtual ~ActuatorCmd();
|
|
|
|
/*
|
|
* @brief: scalingTorqueRws() scales the torque via maximum part in case this part is
|
|
* higher then the maximum torque
|
|
* @param: rwTrq given torque for reaction wheels
|
|
* rwTrqScaled possible scaled torque
|
|
*/
|
|
void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
|
|
|
|
/*
|
|
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
|
|
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
|
|
* as Input to the RWs
|
|
* @param: rwTrqIn given torque from pointing controller
|
|
* rwTrqNS Nullspace torque
|
|
* rwCmdSpeed output revolutions per minute for every
|
|
* reaction wheel
|
|
*/
|
|
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
|
|
const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
|
|
|
|
/*
|
|
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
|
|
*
|
|
* @param: dipolMoment given dipol moment in spacecraft frame
|
|
* dipolMomentActuator resulting dipol moment in actuator reference frame
|
|
*/
|
|
void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
|
|
|
|
protected:
|
|
private:
|
|
AcsParameters acsParameters;
|
|
};
|
|
|
|
#endif /* ACTUATORCMD_H_ */
|