eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

enabled possibility to disable safe controller during eclipse
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert
2023-04-06 13:36:46 +02:00
parent 13844bce65
commit 2af1735cfd
5 changed files with 20 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
mission/controller/AcsController.cpp
View File

@ -172,7 +172,8 @@ void AcsController::performSafe() {
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid());
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
switch (safeCtrlStrat) {
case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
@ -194,6 +195,10 @@ void AcsController::performSafe() {
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
safeCtrlFailure(1, 0);
break;