meggert
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54 lines
2.1 KiB
C++
54 lines
2.1 KiB
C++
#ifndef SAFECTRL_H_
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#define SAFECTRL_H_
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#include <eive/resultClassIds.h>
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#include <mission/acs/defs.h>
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#include <mission/controller/acs/AcsParameters.h>
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#include <stdio.h>
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#include <string.h>
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class SafeCtrl {
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public:
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SafeCtrl(AcsParameters *acsParameters_);
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virtual ~SafeCtrl();
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uint8_t safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
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const bool satRotRateValid, const bool sunDirValid,
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const uint8_t mekfEnabled, const uint8_t dampingEnabled);
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void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
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const double *quatBI, const double *sunDirRefB, const double inertiaMatrix[3][3],
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double *magMomB, double &errorAngle);
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void safeNonMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
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const double *sunDirRefB, const double inertiaMatrix[3][3], double *magMomB,
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double &errorAngle);
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void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
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const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
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void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
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void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
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double &errorAngle, const double gainParallel,
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const double gainOrtho, const double inertiaMatrix[3][3]);
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void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
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const double gainAlign);
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void calculateMagneticMoment(double *magMomB);
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protected:
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private:
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AcsParameters *acsParameters;
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double magFieldBT[3] = {0, 0, 0};
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double satRotRateParallelB[3] = {0, 0, 0};
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double satRotRateOrthogonalB[3] = {0, 0, 0};
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double cmdParallel[3] = {0, 0, 0};
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double cmdOrtho[3] = {0, 0, 0};
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double cmdAlign[3] = {0, 0, 0};
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double cmdTorque[3] = {0, 0, 0};
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};
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#endif /* ACS_CONTROL_SAFECTRL_H_ */
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