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possible fix but not sure
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This commit is contained in:
Robin Müller
2023-02-23 18:34:28 +01:00
parent e19c03f0d7
commit 59b80807ba
3 changed files with 23 additions and 23 deletions
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30
mission/controller/AcsController.cpp
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@ -432,14 +432,15 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
return returnvalue::OK;
}
void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
}
void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
int16_t mtqTargetDipole[3]) {
void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
const int32_t *rwTargetSpeed,
const int16_t *mtqTargetDipole) {
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
@ -452,22 +453,19 @@ void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTa
}
void AcsController::updateCtrlValData(double errAng) {
double unitQuat[4] = {0, 0, 0, 1};
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
ctrlValData.setValidity(true, false);
}
}
void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng) {
void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {