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enableAntistiction must not be optional as it prevents the ACS ctrl from sending invalid speed cmds

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This commit is contained in:
Marius Eggert
2024-01-27 10:45:00 +01:00
parent 315365921e
commit 772e8f1149
3 changed files with 24 additions and 48 deletions
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10
mission/controller/AcsController.cpp
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@ -445,7 +445,6 @@ void AcsController::performPointingCtrl() {
break;
}
uint8_t enableAntiStiction = true;
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
@ -486,7 +485,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
break;
case acs::PTG_TARGET:
@ -510,7 +508,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break;
case acs::PTG_TARGET_GS:
@ -531,7 +528,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
break;
case acs::PTG_NADIR:
@ -555,7 +551,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break;
case acs::PTG_INERTIAL:
@ -578,7 +573,6 @@ void AcsController::performPointingCtrl() {
mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break;
default:
sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
@ -590,9 +584,7 @@ void AcsController::performPointingCtrl() {
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
}
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);