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detumble mode changes
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This commit is contained in:
Marius Eggert
2023-04-14 11:38:05 +02:00
parent 53cccc3c13
commit 1e521f0575
5 changed files with 21 additions and 12 deletions
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11
mission/controller/AcsController.cpp
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@ -259,18 +259,19 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
uint8_t safeCtrlStrat = detumble.detumbleStrategy(mgmDataProcessed.mgmVecTot.isValid(),
gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid());
uint8_t safeCtrlStrat = detumble.detumbleStrategy(
mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
mgmDataProcessed.mgmVecTotDerivative.isValid(),
acsParameters.detumbleParameter.useFullDetumbleLaw);
double magMomMtq[3] = {0, 0, 0};
switch (safeCtrlStrat) {
case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL):
detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value,
magMomMtq, acsParameters.detumbleParameter.gainD);
magMomMtq, acsParameters.detumbleParameter.gainFull);
break;
case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value,
magMomMtq, acsParameters.detumbleParameter.gainD);
magMomMtq, acsParameters.detumbleParameter.gainBdot);
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);