63 lines
2.2 KiB
C++
63 lines
2.2 KiB
C++
#include "Detumble.h"
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#include <fsfw/globalfunctions/constants.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 <fsfw/globalfunctions/sign.h>
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#include <math.h>
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#include "../util/MathOperations.h"
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Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
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Detumble::~Detumble() {}
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void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
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detumbleParameter = &(acsParameters_->detumbleParameter);
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magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
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}
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ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
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const double *magField, const bool magFieldValid, double *magMom) {
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if (!magRateValid || !magFieldValid) {
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return DETUMBLE_NO_SENSORDATA;
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}
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// change unit from uT to T
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double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
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VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
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double gain = detumbleParameter->gainD;
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double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
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VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
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return returnvalue::OK;
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}
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ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
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double *magMom) {
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if (!magRateValid) {
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return DETUMBLE_NO_SENSORDATA;
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}
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double dipolMax = magnetorquesParameter->DipolMax;
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for (int i = 0; i < 3; i++) {
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magMom[i] = -dipolMax * sign(magRate[i]);
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}
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return returnvalue::OK;
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}
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ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
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const double *magField, const bool *magFieldValid,
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double *magMom) {
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if (!satRateValid || !magFieldValid) {
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return DETUMBLE_NO_SENSORDATA;
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}
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double gain = detumbleParameter->gainD;
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double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
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VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
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return returnvalue::OK;
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}
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