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Merge branch 'develop' into acs-ctrl-finite-check
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This commit is contained in:
Marius Eggert
2023-03-14 14:19:30 +01:00
parent 038a529b06 7ce881debc
commit 66b38fa294
6 changed files with 10 additions and 4 deletions
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2
mission/controller/AcsController.cpp
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@ -274,7 +274,7 @@ void AcsController::performPointingCtrl() {
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter == 5) {
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
}

2
mission/controller/AcsController.h
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@ -61,7 +61,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t detumbleCounter = 0;
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false;
uint8_t mekfInvalidCounter = 0;
uint16_t mekfInvalidCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};

3
mission/controller/acs/AcsParameters.cpp
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@ -23,6 +23,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x0:
parameterWrapper->set(onBoardParams.sampleTime);
break;
case 0x1:
parameterWrapper->set(onBoardParams.mekfViolationTimer);
break;
default:
return INVALID_IDENTIFIER_ID;
}

1
mission/controller/acs/AcsParameters.h
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@ -18,6 +18,7 @@ class AcsParameters : public HasParametersIF {
struct OnBoardParams {
double sampleTime = 0.4; // [s]
uint16_t mekfViolationTimer = 750;
} onBoardParams;
struct InertiaEIVE {