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safe mode controller no longer commands RWs

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This commit is contained in:
Marius Eggert 2023-04-05 16:21:10 +02:00
parent 858c6c301e
commit 4ed112d019
2 changed files with 16 additions and 3 deletions
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17
mission/controller/AcsController.cpp
View File

@ -221,9 +221,8 @@ void AcsController::performSafe() {
updateCtrlValData(errAng);
updateActuatorCmdData(cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
// acsParameters.rwHandlingParameters.rampTime);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquerParameter.torqueDuration);
}
void AcsController::performDetumble() {
@ -472,6 +471,18 @@ void AcsController::performPointingCtrl() {
// acsParameters.rwHandlingParameters.rampTime);
}
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration) {
{
PoolReadGuard pg(&dipoleSet);
MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
torquer::LOCK_CTX);
torquer::NEW_ACTUATION_FLAG = true;
dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
}
return returnvalue::OK;
}
ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed,
int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,

2
mission/controller/AcsController.h
View File

@ -105,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);