eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

works
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller
2023-02-03 14:21:36 +01:00
parent 76d18a67bc
commit 4ed1e2411a
6 changed files with 77 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
mission/controller/AcsController.cpp
View File

@ -152,9 +152,8 @@ void AcsController::performSafe() {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
// TODO: Trigger mode transition in ACS subsystem?
submode = acs::CtrlSubmode::DETUMBLE;
detumbleCounter = 0;
// Triggers detubmle mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
}
@ -210,9 +209,9 @@ void AcsController::performDetumble() {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
// TODO: Trigger mode transition in subsystem instead
submode = acs::CtrlSubmode::DETUMBLE;
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
}
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};

4
mission/controller/acs/AcsParameters.h
View File

@ -899,8 +899,8 @@ class AcsParameters /*: public HasParametersIF*/ {
struct DetumbleParameter {
uint8_t detumblecounter = 75; // 30 s
double omegaDetumbleStart = 2 * M_PI / 180;
double omegaDetumbleEnd = 0.4 * M_PI / 180;
double omegaDetumbleStart = 2;
double omegaDetumbleEnd = 0.4;
double gainD = pow(10.0, -3.3);
} detumbleParameter;
};