eive/eive-obsw
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removed inertia matrix for safe mode

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This commit is contained in:
Marius Eggert
2023-04-14 11:37:23 +02:00
parent 7f3f99c6aa
commit 53cccc3c13
5 changed files with 23 additions and 35 deletions
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11
mission/controller/AcsController.cpp
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@ -165,8 +165,8 @@ void AcsController::performSafe() {
}
// get desired satellite rate, sun direction to align to and inertia
double sunTargetDir[3] = {0, 0, 0}, inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getTargetParamsSafe(sunTargetDir, inertiaEive);
double sunTargetDir[3] = {0, 0, 0};
guidance.getTargetParamsSafe(sunTargetDir);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
@ -178,20 +178,19 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
inertiaEive, magMomMtq, errAng);
magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, inertiaEive, magMomMtq,
errAng);
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
sunTargetDir, inertiaEive, magMomMtq, errAng);
sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;