eive/eive-obsw
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Merge branch 'develop' into stop-the-spam

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This commit is contained in:
Marius Eggert
2023-03-21 13:24:21 +01:00
parent 2f5ec84237 2be5cdabb0
commit 078299a07c
15 changed files with 69 additions and 18 deletions
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14
mission/controller/AcsController.cpp
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@ -55,6 +55,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
navigation.resetMekf(&mekfData);
return HasActionsIF::EXECUTION_FINISHED;
}
case RESTORE_MEKF_NONFINITE_RECOVERY: {
mekfLost = false;
return HasActionsIF::EXECUTION_FINISHED;
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
@ -149,6 +153,10 @@ void AcsController::performSafe() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
mekfLost = true;
}
} else {
mekfInvalidFlag = false;
}
@ -231,6 +239,9 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
} else {
mekfInvalidFlag = false;
}
@ -282,6 +293,9 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);