eive/eive-obsw
eive/eive-obsw
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thank god we never needed this before

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This commit is contained in:
Marius Eggert 2023-08-02 10:22:15 +02:00
parent 77ffc62236
commit 6bdafe62ad
1 changed files with 3 additions and 3 deletions
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6
mission/controller/AcsController.cpp
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@ -323,18 +323,18 @@ void AcsController::performDetumble() {
if (acsParameters.safeModeControllerParameters.useMekf) { if (acsParameters.safeModeControllerParameters.useMekf) {
if (mekfData.satRotRateMekf.isValid() and if (mekfData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) < VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} }
} else if (acsParameters.safeModeControllerParameters.useGyr) { } else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) < VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} }
} else if (fusedRotRateData.rotRateTotal.isValid() and } else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) < VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} else if (detumbleCounter > 0) { } else if (detumbleCounter > 0) {
detumbleCounter -= 1; detumbleCounter -= 1;