eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

extended state machine and corrected controller calls
Some checks failed
EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit
Details

Browse Source
This commit is contained in:
Marius Eggert
2023-07-20 11:32:36 +02:00
parent 32e2d87143
commit 0d501e5064
3 changed files with 21 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
mission/controller/AcsController.cpp
View File

@ -176,6 +176,7 @@ void AcsController::performSafe() {
acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
acsParameters.safeModeControllerParameters.useMekf,
acsParameters.safeModeControllerParameters.useGyr,
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
@ -194,8 +195,9 @@ void AcsController::performSafe() {
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
fusedRotRateData.rotRateOrthogonal.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
@ -206,6 +208,13 @@ void AcsController::performSafe() {
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
errAng = NAN;
safeCtrlFailureFlag = false;