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Merge branch 'main' into fix-desaturation
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Marius Eggert
2024-02-26 13:14:09 +01:00
parent 026776c1ec a1570e94e7
commit 64f6f92ce6
6 changed files with 24 additions and 14 deletions
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6
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) {
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;
}
@ -227,6 +227,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} else {
rwCmdSpeeds[i] = 0;
}
}
}