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fixed antistiction logic

This commit is contained in:
Marius Eggert 2023-04-27 10:47:20 +02:00 committed by Robin Mueller
parent 6705ede2fc
commit 4e428e6353
1 changed files with 2 additions and 8 deletions
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10
mission/controller/acs/control/PtgCtrl.cpp
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@ -169,15 +169,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
if (currRwSpeed[i] == 0) {
if (rwCmdSpeeds[i] > 0) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < 0) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
if (rwCmdSpeeds[i] > currRwSpeed[i]) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
}