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small stuff
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This commit is contained in:
Marius Eggert
2022-10-25 11:31:54 +02:00
parent 4bd2a2dac8
commit 69099881bd
3 changed files with 15 additions and 22 deletions
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33
mission/controller/AcsController.cpp
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@@ -97,7 +97,7 @@ void AcsController::performSafe() {
sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
ReturnValue_t validMekf;
navigation.useMekf(&sensorValues, &outputValues, &validMekf); // DOES THIS WORK WITH VALID?
navigation.useMekf(&sensorValues, &outputValues, &validMekf);
// Give desired satellite rate and sun direction to align
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
@@ -127,25 +127,18 @@ void AcsController::performSafe() {
if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
} else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
else {
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_DETUMBLE;
detumbleCounter = 0;
}
// commanding.magnetorquesDipol();
// commanding.magnetorquesDipol();
}
void AcsController::performDetumble() {
@@ -154,7 +147,6 @@ void AcsController::performDetumble() {
timeval now;
Clock::getClock_timeval(&now);
// Clock::getUptime(&now);
sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
ReturnValue_t validMekf;
@@ -170,14 +162,13 @@ void AcsController::performDetumble() {
if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
}
else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
} else if (outputValues.satRateEstValid &&
VectorOperations<double>::norm(outputValues.satRateEst, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else {
detumbleCounter = 0;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0;
@@ -235,6 +226,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
@@ -539,3 +531,4 @@ void AcsController::copyGyrData() {
}
}
}