Refactor/489 thruster platform reference #490
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
rcalaon
added
enhancement
schaubh
requested changes
Nov 16, 2023
src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.h
Outdated
Show resolved
Hide resolved
src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.h
Outdated
Show resolved
Hide resolved
src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.c
Outdated
Show resolved
Hide resolved
src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.rst
Outdated
Show resolved
Hide resolved
rcalaon
force-pushed
the
refactor/489-thrusterPlatformReference
branch
from
6600dd4
to
4a7227c
Compare
rcalaon
force-pushed
the
refactor/489-thrusterPlatformReference
branch
from
4a7227c
to
0273d7e
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This refactor consists in providing the
thrusterPlatformReferencemodule with an input thruster configuration msg containing the configuration information of the thruster with respect to the platform frame. A similar message is provided as an output, containing the reference thruster configuration info in body-frame coordinates. Commit 1 implements these changes in the module.An integral feedback term is provided as an input parameter. When the input is negative, or not provided, the integral feedback term is not added, and the control law defaults to a proportional type.
Two input parameters are defined to bound the absolute value of the reference angles. When the computed references exceed these bounds, they are set equal to the bounds. When the inputs are negative, the bounding of the reference angles is bypassed.
Commit 2 addresses an issue in the former version of the module, making sure that the momentum dumping routine is run only when the RW speed message is connected. Commit 3 implements the bounding of the reference angles. Commit 4 computes the integral feedback term and adds it to the control law. Commits 5 and 6 update the unit test and documentation, respectively.
Verification
A unit test is provided to test the correctness of the output, reflecting the most recent changes.
Documentation
Documentation is updated to reflect the changes.
Future work
No future work is foreseen at the moment.