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continued ACS controller impl
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This commit is contained in:
Robin Müller
2022-08-15 10:50:19 +02:00
parent c99cb4a81e
commit 6821a95095
7 changed files with 109 additions and 18 deletions
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22
mission/controller/AcsController.h
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@ -1,13 +1,24 @@
#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_
#include <commonObjects.h>
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include <fsfw/controller/ExtendedControllerBase.h>
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
class AcsController : public ExtendedControllerBase {
public:
static constexpr dur_millis_t INIT_DELAY = 500;
AcsController(object_id_t objectId);
private:
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -20,7 +31,18 @@ class AcsController : public ExtendedControllerBase {
uint32_t* msToReachTheMode) override;
// MGMs
acsctrl::MgmData mgmData;
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm2Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
IMTQ::CalibratedMtmMeasurementSet imtqMgmSet = IMTQ::CalibratedMtmMeasurementSet(objects::IMTQ_HANDLER);
void copyMgmData();
// Initial delay to make sure all pool variables have been initialized their owners
Countdown initialCountdown = Countdown(INIT_DELAY);
// Sun Sensors
};