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cleanup and detumble switch
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Marius Eggert
2023-04-06 10:47:26 +02:00
parent 34dde2640e
commit 543d147b37
2 changed files with 51 additions and 38 deletions
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21
mission/controller/AcsController.h
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@ -12,18 +12,17 @@
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/Navigation.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/control/Detumble.h>
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/utility/trace.h>
#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/MultiplicativeKalmanFilter.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "acs/control/SafeCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
@ -106,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
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,