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better detumble exit
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This commit is contained in:
Marius Eggert 2023-07-20 14:43:43 +02:00
parent 07e002ccd2
commit 753b9f8a0e
1 changed files with 16 additions and 7 deletions
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23
mission/controller/AcsController.cpp
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@ -318,17 +318,26 @@ void AcsController::performDetumble() {
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
if (mekfData.satRotRateMekf.isValid() &&
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++;
} else if (gyrDataProcessed.gyrVecTot.isValid() &&
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) {
if (acsParameters.safeModeControllerParameters.useMekf) {
if (mekfData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem