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renamed RMU related stuff to GYR. added GYR processing

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This commit is contained in:
Marius Eggert
2022-10-11 15:01:32 +02:00
parent b2a715ef6a
commit 46dd2b92e5
4 changed files with 100 additions and 61 deletions
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31
mission/controller/acs/SensorValues.cpp
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@ -42,20 +42,25 @@ ReturnValue_t SensorValues::updateSus() {
return result;
}
ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
pgGyr3(&gyr3L3gSet);
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
pgGyr3.getReadResult());
return result;
}
ReturnValue_t SensorValues::update() {
updateSus();
updateMgm();
// lp_var_t<float> quaternion(objects::STAR_TRACKER, PoolIds::CALI_QW, nullptr,
// pool_rwm_t::VAR_READ);
// ReturnValue_t result = quaternion.read();
//
// if (result != RETURN_OK) {
// return RETURN_FAILED;
// }
// quatJB[3] = static_cast<double>(quaternion.value);
// quatJBValid = quaternion.isValid();
ReturnValue_t mgmUpdate = updateMgm();
ReturnValue_t susUpdate = updateSus();
ReturnValue_t gyrUpdate = updateGyr();
if ((mgmUpdate && susUpdate && gyrUpdate) == returnvalue::FAILED) {
return returnvalue::FAILED;
};
return returnvalue::OK;
}
} // namespace ACS
// namespace ACS