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Merge branch 'acs-ptg-ctrl-fixes-2' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into acs-ptg-ctrl-fixes-2
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Marius Eggert
2023-06-07 09:20:38 +02:00
parent 7dbe69ef49 7d1b99c3f4
commit 7fc934b9df
5 changed files with 13 additions and 4 deletions
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4
mission/controller/AcsController.cpp
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@ -353,8 +353,10 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter == 5) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
multipleRwUnavailableCounter = 0;
}
multipleRwUnavailableCounter++;
return;

3
mission/controller/acs/AcsParameters.cpp
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@ -290,6 +290,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x6:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
case 0x7:
parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
break;
default:
return INVALID_IDENTIFIER_ID;
}

2
mission/controller/acs/AcsParameters.h
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@ -798,6 +798,8 @@ class AcsParameters : public HasParametersIF {
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
uint32_t multipleRwInvalidTimeout = 25;
} rwHandlingParameters;
struct RwMatrices {

4
mission/controller/acs/Navigation.cpp
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@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(