eive/eive-obsw
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seems to work now, but the whole printout crap needs to be removed
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This commit is contained in:
Robin Müller
2023-04-05 14:41:34 +02:00
parent 0cabe3a9ea
commit 5e93282662
5 changed files with 60 additions and 27 deletions
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11
mission/system/acs/AcsBoardAssembly.cpp
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@ -256,8 +256,8 @@ ReturnValue_t AcsBoardAssembly::initialize() {
return AssemblyBase::initialize();
}
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
Submode_t deviceSubmode) {
ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t commandedMode,
Submode_t commandedSubmode) {
using namespace returnvalue;
ReturnValue_t status = returnvalue::OK;
bool healthNeedsToBeOverwritten = false;
@ -300,7 +300,7 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
healthNeedsToBeOverwritten = true;
}
if (deviceSubmode == duallane::DUAL_MODE) {
if (commandedSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
@ -308,6 +308,11 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
if(healthNeedsToBeOverwritten) {
// If we are overwriting the health states, we are already in a transition to dual mode,
// and we would like that transition to complete. The default behaviour is to go back to the
// old mode. We force our behaviour by overwriting the internal modes.
mode = commandedMode;
submode = commandedSubmode;
return NEED_TO_CHANGE_HEALTH;
}
return status;