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simplification
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This commit is contained in:
Robin Müller
2023-03-10 15:21:36 +01:00
parent 6452242f2f
commit 4a386ad3d1
4 changed files with 8 additions and 32 deletions
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2
mission/controller/AcsController.cpp
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@ -198,6 +198,7 @@ void AcsController::performSafe() {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
}
updateCtrlValData(errAng);
@ -245,6 +246,7 @@ void AcsController::performDetumble() {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
}
disableCtrlValData();

4
mission/controller/acs/AcsParameters.h
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@ -924,8 +924,8 @@ class AcsParameters : public HasParametersIF {
} magnetorquesParameter;
struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180;
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 0; // 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180;
double gainD = pow(10.0, -3.3);
} detumbleParameter;