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removed even more deprecated code
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Marius Eggert
2023-04-13 15:02:07 +02:00
parent ae729337a2
commit 673826b131
5 changed files with 26 additions and 33 deletions
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13
mission/controller/AcsController.cpp
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@ -165,9 +165,8 @@ void AcsController::performSafe() {
}
// get desired satellite rate, sun direction to align to and inertia
double satRateSafe = 0, sunTargetDir[3] = {0, 0, 0},
inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getTargetParamsSafe(sunTargetDir, satRateSafe, inertiaEive);
double sunTargetDir[3] = {0, 0, 0}, inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getTargetParamsSafe(sunTargetDir, inertiaEive);
double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
@ -179,20 +178,20 @@ void AcsController::performSafe() {
case (acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
satRateSafe, inertiaEive, magMomMtq, errAng);
inertiaEive, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF):
safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, satRateSafe, inertiaEive,
magMomMtq, errAng);
susDataProcessed.susVecTot.value, sunTargetDir, inertiaEive, magMomMtq,
errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
satRateSafe, sunTargetDir, magMomMtq, errAng);
sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;