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added returnvalue handling
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This commit is contained in:
Marius Eggert
2023-02-23 11:26:43 +01:00
parent 5205c5b78a
commit 5d9ed222f5
5 changed files with 26 additions and 21 deletions
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19
mission/controller/AcsController.cpp
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@ -49,7 +49,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
const uint8_t *data, size_t size) {
switch (actionId) {
case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
guidance.solarArrayDeploymentComplete();
ReturnValue_t result = guidance.solarArrayDeploymentComplete();
if (result == returnvalue::FAILED) {
return FILE_DELETION_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
case RESET_MEKF: {
@ -140,8 +143,8 @@ void AcsController::performSafe() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -155,7 +158,7 @@ void AcsController::performSafe() {
// if MEKF is working
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
bool magMomMtqValid = false;
if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@ -205,8 +208,8 @@ void AcsController::performDetumble() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -252,8 +255,8 @@ void AcsController::performPointingCtrl() {
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData);
if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;