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changed ptg strat prios
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Marius Eggert 2024-02-23 14:44:59 +01:00
parent 77527c631c
commit 585b8043e6
2 changed files with 6 additions and 2 deletions
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4
CHANGELOG.md
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@ -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 - The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode
and is triggered by the `AcsController` now. and is triggered by the `AcsController` now.
## Changed
- Changed PTG Strat priorities to favor STR before MEKF.
# [v7.6.1] 2024-02-05 # [v7.6.1] 2024-02-05
## Changed ## Changed

4
mission/controller/acs/control/PtgCtrl.cpp
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@ -15,10 +15,10 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) { const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; 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) { } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_STR; 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) { } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_QUEST; return acs::ControlModeStrategy::PTGCTRL_QUEST;
} }