eive/eive-obsw
eive/eive-obsw
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Merge pull request 'fancy GPS fdir' (#562) from fancy_gps_fdir into develop
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Reviewed-on: #562
This commit is contained in:
Robin Müller 2023-04-04 18:02:54 +02:00
commit 28882cc359
1 changed files with 16 additions and 1 deletions
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17
mission/system/acs/AcsBoardAssembly.cpp
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@ -278,9 +278,24 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
modeHelper.setForced(true);
}
};
if (healthHelper.healthTable->getHealth(helper.gpsId) == EXTERNAL_CONTROL) {
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == EXTERNAL_CONTROL or
healthHelper.healthTable->getHealth(helper.healthDevGps1) == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
} else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
} else if (healthHelper.healthTable->isFaulty(helper.healthDevGps0) or
healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
overwriteDeviceHealth(helper.healthDevGps0,
healthHelper.healthTable->getHealth(helper.healthDevGps0));
overwriteDeviceHealth(helper.healthDevGps1,
healthHelper.healthTable->getHealth(helper.healthDevGps1));
}
if (deviceSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);