mrpSteering.cpp

// SPDX-License-Identifier: ISC
// Copyright (c) 2015, Autonomous Vehicle System Lab, University of Colorado at Boulder
// Copyright (c) 2025, Laboratory for Atmospheric and Space Physics, University of Colorado at Boulder

#include "mrpSteering.h"
#include <stdexcept>

/*! This method performs a complete reset of the module.  Local module variables that retain
 time varying states between function calls are reset to their default values.
 @return void
 @param callTime The clock time at which the function was called (nanoseconds)
*/
void MrpSteering::reset(uint64_t callTime) {
    // check for required input message
    if (!this->guidInMsg.isLinked()) {
        throw std::invalid_argument("mrpSteering.guidInMsg wasn't connected.");
    }
}

/*! This method takes the attitude and rate errors relative to the Reference frame, as well as
    the reference frame angular rates and acceleration
 @return void
 @param callTime The clock time at which the function was called (nanoseconds)
 */
void MrpSteering::updateState(uint64_t callTime) {
    AttGuidMsgPayload guidCmd = this->guidInMsg();

    RateCmdMsgPayload outMsg = this->algorithm.update(guidCmd);

    this->rateCmdOutMsg.write(outMsg, moduleID, callTime);
}

/*! Set the linear feedback gain K1
 @return void
 @param gain [-] linear feedback gain K1
*/
void MrpSteering::setK1(const double gain) { this->algorithm.setK1(gain); }

/*! Get the linear feedback gain K1
 @return double
*/
double MrpSteering::getK1() const { return this->algorithm.getK1(); }

/*! Set the cubic feedback gain K3
 @return void
 @param gain [-] cubic feedback gain K3
*/
void MrpSteering::setK3(const double gain) { this->algorithm.setK3(gain); }

/*! Get the cubic feedback gain K3
 @return double
*/
double MrpSteering::getK3() const { return this->algorithm.getK3(); }

/*! Set the maximum rate command of steering control
 @return void
 @param omega [-] maximum rate command of steering control
*/
void MrpSteering::setOmegaMax(const double omega) { this->algorithm.setOmegaMax(omega); }

/*! Get the maximum rate command of steering control
 @return double
*/
double MrpSteering::getOmegaMax() const { return this->algorithm.getOmegaMax(); }

/*! Set whether the outer loop feed-forward is ignored
 @return void
 @param ignore boolean whether the outer loop feed-forward should be ignored
*/
void MrpSteering::setIgnoreFeedforward(const bool ignore) { this->algorithm.setIgnoreFeedforward(ignore); }

/*! Get whether the outer loop feed-forward is ignored
 @return bool
*/
bool MrpSteering::getIgnoreFeedforward() const { return this->algorithm.getIgnoreFeedforward(); }