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extended state machine and corrected controller calls
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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
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14
mission/controller/acs/control/SafeCtrl.cpp
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@ -9,22 +9,22 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t mekfEnabled,
const uint8_t gyrEnabled,
const uint8_t dampingEnabled) {
acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_MEKF;
} else if (gyrEnabled and satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_GYR;
} else if (not gyrEnabled and sunDirValid) {
} else if (not gyrEnabled and sunDirValid and fusedRateSplitValid) {
return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
} else if (gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
} else if (not gyrEnabled and dampingEnabled and satRotRateValid and fusedRateTotalValid and
not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;