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detumble from fusedRotRate
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This commit is contained in:
Marius Eggert 2023-07-20 14:22:45 +02:00
parent 53d2e7965a
commit 07e002ccd2
1 changed files with 14 additions and 6 deletions
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20
mission/controller/AcsController.cpp
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@ -235,12 +235,20 @@ void AcsController::performSafe() {
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs); acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
// detumble check and switch // detumble check and switch
if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf && if (acsParameters.safeModeControllerParameters.useMekf) {
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) > if (mekfData.satRotRateMekf.isValid() and
acsParameters.detumbleParameter.omegaDetumbleStart) { VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
detumbleCounter++; acsParameters.detumbleParameter.omegaDetumbleStart) {
} else if (gyrDataProcessed.gyrVecTot.isValid() && detumbleCounter++;
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) > }
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++; detumbleCounter++;
} else if (detumbleCounter > 0) { } else if (detumbleCounter > 0) {