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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);