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ignore rotation rates from quest and str for safe mode

This commit is contained in:
Marius Eggert 2024-02-23 14:53:28 +01:00
parent 77527c631c
commit 13aa6f50ff
4 changed files with 13 additions and 8 deletions
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5
mission/controller/AcsController.cpp
View File

@ -173,7 +173,7 @@ void AcsController::performAttitudeControl() {
&susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
fusedRotationEstimation.estimateFusedRotationRate(
&susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
modeIsSafe, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
&attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &attitudeEstimationData, &acsParameters);
@ -914,6 +914,9 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
PoolReadGuard pg(&rw4SpeedSet);
rw4SpeedSet.setRwSpeed(0, 10);
}
modeIsSafe = true;
} else {
modeIsSafe = false;
}
if (submode == acs::SafeSubmode::DETUMBLE) {
detumbleState = DetumbleState::IN_DETUMBLE;

2
mission/controller/AcsController.h
View File

@ -62,6 +62,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
double timeDelta = 0.0;
timeval oldTimeRelative;
bool modeIsSafe = true;
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
AttitudeEstimation attitudeEstimation;

12
mission/controller/acs/FusedRotationEstimation.cpp
View File

@ -5,17 +5,17 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
}
void FusedRotationEstimation::estimateFusedRotationRate(
acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
const bool modeIsSafe, acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed,
ACS::SensorValues *sensorValues, acsctrl::AttitudeEstimationData *attitudeEstimationData,
const double timeDelta, acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
acsctrl::FusedRotRateData *fusedRotRateData) {
estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
fusedRotRateSourcesData);
if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
if (not modeIsSafe and fusedRotRateSourcesData->rotRateTotalStr.isValid() and
acsParameters->onBoardParams.fusedRateFromStr) {
PoolReadGuard pg(fusedRotRateData);
if (pg.getReadResult() == returnvalue::OK) {
@ -29,7 +29,7 @@ void FusedRotationEstimation::estimateFusedRotationRate(
fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
} else if (not modeIsSafe and fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
acsParameters->onBoardParams.fusedRateFromQuest) {
PoolReadGuard pg(fusedRotRateData);
if (pg.getReadResult() == returnvalue::OK) {

2
mission/controller/acs/FusedRotationEstimation.h
View File

@ -12,7 +12,7 @@ class FusedRotationEstimation {
public:
FusedRotationEstimation(AcsParameters *acsParameters_);
void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
void estimateFusedRotationRate(const bool modeIsSafe, acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::GyrDataProcessed *gyrDataProcessed,
ACS::SensorValues *sensorValues,