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some tweaks for dipole set handling
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Robin Müller 2022-10-20 10:51:19 +02:00
parent 2b6334b9dc
commit 07fe2cb122
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GPG Key ID: 71B58F8A3CDFA9AC
2 changed files with 16 additions and 2 deletions
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5
mission/devices/ImtqHandler.cpp
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@ -100,7 +100,10 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
communicationStep = CommunicationStep::DIPOLE_ACTUATION;
break;
case CommunicationStep::DIPOLE_ACTUATION: {
// The dipoles will be set by the ACS controller directly using the dipole local pool set.
// If the dipole is not commanded but set by the ACS control algorithm,
// the dipoles will be set by the ACS controller directly using the dipole local pool set.
// This set has a flag to determine whether the ACS controller actually set any new input.
PoolReadGuard pg(&dipoleSet);
if (dipoleSet.newActuation) {
*id = IMTQ::START_ACTUATION_DIPOLE;
}

13
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
View File

@ -485,9 +485,14 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
DipoleActuationSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
// Refresh torque command without changing any of the set dipoles.
void refreshTorqueing(uint16_t durationMs_) {
newActuation = true;
currentTorqueDurationMs = durationMs_;
}
void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
uint16_t currentTorqueDurationMs_) {
PoolReadGuard pg(this);
newActuation = false;
if (xDipole.value != xDipole_) {
newActuation = true;
@ -504,6 +509,12 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
currentTorqueDurationMs = currentTorqueDurationMs_;
}
void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
xDipole_ = xDipole.value;
yDipole_ = yDipole.value;
zDipole_ = zDipole.value;
}
private:
lp_var_t<uint16_t> xDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_X, this);
lp_var_t<uint16_t> yDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Y, this);