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enabled possibility to disable safe controller during eclipse
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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
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7
mission/controller/acs/control/SafeCtrl.cpp
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@ -10,15 +10,18 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid) {
const bool satRotRateValid, const bool sunDirValid,
const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;
} else if (satRotRateValid and not sunDirValid) {
} else if (dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}