fsw_attitude_control.h

/*
 * Header file for object of class fsw_attitude_control.
 * Copyright 2008-2010 Princeton Satellite Systems, Inc.
 * All Rights Reserved.
 */
 
#include <ControlDeck2/ControlDeck2.h>
#include <SCControl/SCControl.h>
 
#ifndef FSW_ATTITUDE_CONTROL
#define FSW_ATTITUDE_CONTROL
 
class fsw_attitude_control : public cd_control_module
{
    public:
        fsw_attitude_control (const char * mod_name);
                void initialize_data();
        void initialize_data_requests();
        void handle_event(int code);
                int     valid_quaternion( ml_matrix q );
        int     valid_vector( ml_matrix u );
        ml_matrix make_unit_vector( ml_matrix u );
        int get_index( int id, ml_matrix index_list );
 
 
    protected:
        
        CD_REQUEST_REF od_state_ref; 
        CD_REQUEST_REF inertia_ref; 
        CD_REQUEST_REF quaternion_ref; 
        CD_REQUEST_REF omega_ref; 
        CD_REQUEST_REF ephem_planet_position_ref; 
        CD_REQUEST_REF ephem_planet_index_ref; 
        CD_REQUEST_REF ephem_planet_rotation_matrix_ref; 
        CD_REQUEST_REF ephem_planet_radius_ref; 
        CD_REQUEST_REF ephem_sun_vector_ref; 
    
        CD_CREATE_REF acs_error_ref;
        CD_CREATE_REF acs_attitude_error_ref;
                CD_CREATE_REF acs_torque_demand_ref;
        CD_CREATE_REF acs_target_quaternion_ref;
    
                CD_CREATE_REF acs_q_eci_to_body_command_ref;
                CD_CREATE_REF acs_omega_command_ref;
        CD_CREATE_REF acs_axis_rate_command_ref;
                CD_CREATE_REF acs_eci_align_axis_command_ref;
                CD_CREATE_REF acs_body_align_axis_command_ref;
                CD_CREATE_REF acs_rotate_axis_command_ref;
                CD_CREATE_REF acs_rotate_angle_command_ref;
                CD_CREATE_REF acs_control_mode_command_ref;
        CD_CREATE_REF acs_solar_system_target_command_ref;
                CD_CREATE_REF acs_attitude_gain_a_command_ref;
                CD_CREATE_REF acs_attitude_gain_b_command_ref;
                CD_CREATE_REF acs_attitude_gain_c_command_ref;
                CD_CREATE_REF acs_attitude_gain_d_command_ref;
        CD_CREATE_REF acs_planet_target_command_ref;
                CD_CREATE_REF acs_body_rate_gain_command_ref;
        CD_CREATE_REF acs_q_nadir_offset_command_ref;
        CD_CREATE_REF acs_control_period_command_ref;
        CD_CREATE_REF acs_maximum_delta_angle_command_ref;
    
    private:
                // Attitude Control Class
                PID3Axis pid;
        
                // Initialization flag
                int init_pid;
    
        int acs_error;
    
        int control_mode_command_old;
    
        double axis_angle;
 
        
};
 
extern "C"
{
    cd_control_module *fsw_attitude_control_builder(const char *name);
}
 
#endif