eive/eive-obsw
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ignore rotation rates from quest and str for safe mode

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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
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@ -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;