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Merge branch 'v3.0.0-dev' into gyr-confg-rework-2
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Marius Eggert
2023-06-05 09:54:23 +02:00
parent 631a1aec42 7b38ee3ecc
commit 3be495fc30
19 changed files with 206 additions and 58 deletions
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13
mission/controller/ThermalController.cpp
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@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
{
PoolReadGuard pg(&heaterInfo);
std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
{
PoolReadGuard pg2(&currentVecPdu2);
if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
bool heaterAvailable = true;
if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
if (mainHealth != HasHealthIF::HEALTHY) {
if (redHealth == HasHealthIF::HEALTHY) {
switchNr = redSwitchNr;
redSwitchNrInUse = true;
} else {
heaterAvailable = false;
triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
// Special case: Ground might command/do something with the heaters, so prevent spam.
if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
}
}
} else {
redSwitchNrInUse = false;

3
mission/controller/acs/AcsParameters.cpp
View File

@ -539,6 +539,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break;
case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
break;
case 0xC:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;

2
mission/controller/acs/ActuatorCmd.cpp
View File

@ -61,7 +61,7 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentAct
// Scaling along largest element if dipol exceeds maximum
uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
double maxAbsValue = std::abs(dipolMomentActuatorDouble[maxIdx]);
if (maxAbsValue > maxDipol) {
double scalingFactor = maxDipol / maxAbsValue;
VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,