make detumble state machine robust agains mode changes

2024-01-31 15:41:21 +01:00
parent aa521e89f6
commit 4d22f7f889
3 changed files with 29 additions and 4 deletions
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -283,6 +283,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes

  // Initial delay to make sure all pool variables have been initialized their owners
  Countdown initialCountdown = Countdown(INIT_DELAY);
+
+  // Countdown after which the detumbling mode change should have been finished
+  static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
+  Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
 };

 #endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */