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Merge branch 'develop' into eggert/acs
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This commit is contained in:
Marius Eggert
2023-02-07 10:08:20 +01:00
parent b9ed485d60 5f81b0866a
commit 6567fd1023
35 changed files with 626 additions and 338 deletions
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21
mission/controller/AcsController.h
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@ -26,24 +26,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_IDLE = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_TARGET = 6;
static const Submode_t SUBMODE_PTG_TARGET_GS = 7;
static const Submode_t SUBMODE_PTG_INERTIAL = 8;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
protected:
void performSafe();
void performDetumble();
@ -78,8 +60,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
/* ACS Datasets */
ACS::SensorValues sensorValues;
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
// MGMs
acsctrl::MgmDataRaw mgmDataRaw;