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This commit is contained in:
Robin Müller
2023-04-03 18:54:47 +02:00
parent 1610bdecf9
commit 8404ce237b
8 changed files with 32 additions and 19 deletions
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28
mission/system/acs/AcsBoardAssembly.cpp
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@ -77,16 +77,14 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
if (wantedSubmode == A_SIDE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
(helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
(helper.gpsMode != MODE_ON) or
gps0HealthDevFaulty()) {
(helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
} else if (wantedSubmode == B_SIDE) {
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
(helper.gpsMode != MODE_ON) or
gps1HealthDevFaulty()) {
(helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return returnvalue::OK;
@ -121,7 +119,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
};
bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode);
bool gpsUsable = isGpsUsable(submode);
auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
if (gpsUsable) {
if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
@ -326,3 +325,22 @@ bool AcsBoardAssembly::gps1HealthDevFaulty() const {
}
return false;
}
bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const {
if (targetSubmode == duallane::A_SIDE and
healthHelper.healthTable->isFaulty(helper.healthDevGps0)) {
// Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
return false;
}
if (targetSubmode == duallane::B_SIDE and
healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
// Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
return false;
}
auto gpsIter = childrenMap.find(helper.gpsId);
// Check if device is already in target mode
if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) {
return true;
}
return false;
}