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changed fdir to new variant
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This commit is contained in:
Marius Eggert
2023-11-15 16:54:54 +01:00
parent 9482f3cae9
commit 4a86d4ba4b
6 changed files with 22 additions and 7 deletions
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15
mission/controller/AcsController.cpp
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@ -369,6 +369,21 @@ void AcsController::performDetumble() {
}
void AcsController::performPointingCtrl() {
acs::ControlModeStrategy ptgCtrlStrat =
ptgCtrl.pointingCtrlStrategy(magFieldValid, mekfValid, satRotRateValid, sunDirValid,
fusedRateTotalValid, mekfEnabled, gyrEnabled, dampingEnabled);
if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
ptgCtrlLostCounter++;
if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
ptgCtrlLostCounter = 0;
}
commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
acsParameters.rwHandlingParameters.rampTime);
}
uint8_t enableAntiStiction = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);

2
mission/controller/AcsController.h
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@ -72,7 +72,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false;
uint16_t mekfInvalidCounter = 0;
uint16_t ptgCtrlLostCounter = 0;
bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0;
uint8_t resetMekfCount = 0;

2
mission/controller/acs/AcsParameters.cpp
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@ -24,7 +24,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(onBoardParams.sampleTime);
break;
case 0x1:
parameterWrapper->set(onBoardParams.mekfViolationTimer);
parameterWrapper->set(onBoardParams.ptgCtrlLostTimer);
break;
case 0x2:
parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);

2
mission/controller/acs/AcsParameters.h
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@ -18,7 +18,7 @@ class AcsParameters : public HasParametersIF {
struct OnBoardParams {
double sampleTime = 0.4; // [s]
uint16_t mekfViolationTimer = 750;
uint16_t ptgCtrlLostTimer = 750;
uint8_t fusedRateSafeDuringEclipse = true;
} onBoardParams;