From 585b8043e62a448272d6ac1a8e62477a3a75469f Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 23 Feb 2024 14:44:59 +0100 Subject: [PATCH] changed ptg strat prios --- CHANGELOG.md | 4 ++++ mission/controller/acs/control/PtgCtrl.cpp | 4 ++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index baccb4cb..c60c6059 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -26,6 +26,10 @@ will consitute of a breaking change warranting a new major release: - The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode and is triggered by the `AcsController` now. + ## Changed + +- Changed PTG Strat priorities to favor STR before MEKF. + # [v7.6.1] 2024-02-05 ## Changed diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp index 0294e8b6..0c034ea4 100644 --- a/mission/controller/acs/control/PtgCtrl.cpp +++ b/mission/controller/acs/control/PtgCtrl.cpp @@ -15,10 +15,10 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy( const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) { if (not magFieldValid) { return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; - } else if (mekfEnabled and mekfValid) { - return acs::ControlModeStrategy::PTGCTRL_MEKF; } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { return acs::ControlModeStrategy::PTGCTRL_STR; + } else if (mekfEnabled and mekfValid) { + return acs::ControlModeStrategy::PTGCTRL_MEKF; } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { return acs::ControlModeStrategy::PTGCTRL_QUEST; }