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use enum instead of rtval to enable easier tm generation
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This commit is contained in:
Marius Eggert
2023-04-05 17:20:29 +02:00
parent 39b2a3420c
commit 65dd0f313b
5 changed files with 33 additions and 19 deletions
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14
mission/controller/acs/control/SafeCtrl.cpp
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@ -13,18 +13,18 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
SafeCtrl::~SafeCtrl() {}
ReturnValue_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid) {
uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid) {
if (not magFieldValid) {
return SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
return SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfValid) {
return SAFECTRL_USE_MEKF;
return SafeModeStrategy::SAFECTRL_USE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return SAFECTRL_USE_NONMEKF;
return SafeModeStrategy::SAFECTRL_USE_NONMEKF;
} else if (satRotRateValid and not sunDirValid) {
return SAFECTRL_USE_DAMPING;
return SafeModeStrategy::SAFECTRL_USE_DAMPING;
} else {
return SAFECTRL_NO_SENSORS_FOR_CONTROL;
return SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
}

13
mission/controller/acs/control/SafeCtrl.h
View File

@ -22,8 +22,17 @@ class SafeCtrl {
static constexpr ReturnValue_t SAFECTRL_NO_SENSORS_FOR_CONTROL =
returnvalue::makeCode(IF_SAFE_ID, 6);
ReturnValue_t safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid);
enum SafeModeStrategy : uint8_t {
SAFECTRL_OFF = 0,
SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
SAFECTRL_USE_MEKF = 10,
SAFECTRL_USE_NONMEKF = 11,
SAFECTRL_USE_DAMPING = 12,
};
uint8_t safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid);
void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
const double *quatBI, const double *sunDirRefB, const double satRotRateRef,