TwoAxisPointingGuidance.h

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/*
Triad method guidance task header file 
 
Author: Alex Jackson
*/
 
#ifndef APPS_TWO_AXIS_POINTING_GUIDANCE_H
#define APPS_TWO_AXIS_POINTING_GUIDANCE_H
 
#include "flight/App.h"
#include "flight/FlightExecutive.h"
 
#include "core/CartesianVector.hpp"
#include "dynamics/Quaternion.h"
#include "core/mathmacros.h"
 
#include "telemetry/tlm_TwoAxisPointingGuidance.h"
 
namespace warpos {

    class TwoAxisPointingGuidance : public App {
    public:
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(current_primary_body,     CartesianVector3,       CartesianVector3({1.0, 0.0, 0.0}))
            SIGNAL(desired_primary,          CartesianVector3,        CartesianVector3({1.0, 0.0, 0}))
            SIGNAL(current_secondary_body,    CartesianVector3,      CartesianVector3({0.0, 1.0, 0.0}))
            SIGNAL(desired_secondary,        CartesianVector3,       CartesianVector3({0.0, 1.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(quat_body_ref,           clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
        END_OUTPUTS 
 
        TwoAxisPointingGuidance(FlightExecutive &executive);
 
        virtual ~TwoAxisPointingGuidance() {};
    
        int16 activate() override;

        int16 deactivate() override;

        int16 command(uint16 apid, uint8* buffer, uint16 size) override;
 
    protected:
        int16 start() override;
        int16 execute() override;
 
        // Local vectors to establish DCM -- here for speed
        CartesianVector3 _body_triadx;
        CartesianVector3 _body_triady;
        CartesianVector3 _body_triadz;
        CartesianVector3 _ref_triadx;
        CartesianVector3 _ref_triady;
        CartesianVector3 _ref_triadz;

        clockwerk::DCM _dcm_body_ref;
        clockwerk::Quaternion _quat_body_ref;
 
        // Internal variables for DCMs defined by pointing targets
        clockwerk::DCM _body_triad;
        clockwerk::DCM _ref_triad;
 
        // Telemetry packet for packing
        tlm_gnc_two_axis_pnt_data _tlm_pkt;
    };
 
}
 
#endif