eive/eive-obsw
eive/eive-obsw
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enabled performSafe

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This commit is contained in:
Marius Eggert 2022-10-06 15:37:41 +02:00
parent 1844df2195
commit 84e960a9ef
2 changed files with 17 additions and 17 deletions
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30
mission/controller/AcsController.cpp
View File

@ -5,11 +5,11 @@
AcsController::AcsController(object_id_t objectId) AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT), : ExtendedControllerBase(objectId, objects::NO_OBJECT),
/*sensorProcessing(&acsParameters), sensorProcessing(&acsParameters),
navigation(&acsParameters), navigation(&acsParameters),
actuatorCmd(&acsParameters), actuatorCmd(&acsParameters),
detumble(&acsParameters), detumble(&acsParameters),
detumbleCounter{0},*/ detumbleCounter{0},
mgmData(this), mgmData(this),
susData(this) {} susData(this) {}
@ -64,14 +64,16 @@ void AcsController::performControlOperation() {
copySusData(); copySusData();
} }
} }
sif::debug << susData.sus0.value[0] << "," << susData.sus0.value[1] << ","
<< susData.sus0.value[2] << "," << susData.sus0.value[3] << ","
<< susData.sus0.value[4] << "," << susData.sus0.value[5] << std::endl;
sif::debug << susData.sus0.isValid() << std::endl;
} }
void AcsController::performSafe(){ void AcsController::performSafe() {}
}
void AcsController::performDetumble() { void AcsController::performDetumble() {
/*ACS::SensorValues sensorValues; ACS::SensorValues sensorValues;
ACS::OutputValues outputValues; ACS::OutputValues outputValues;
// sensorValues.read(); // sensorValues.read();
@ -104,12 +106,10 @@ void AcsController::performDetumble() {
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE; submode = SUBMODE_SAFE;
detumbleCounter = 0; detumbleCounter = 0;
}*/ }
} }
void AcsController::performPointingCtrl(){ void AcsController::performPointingCtrl() {}
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
@ -120,6 +120,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
// SUS // SUS
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1PoolVec);
@ -133,8 +134,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11PoolVec);
poolManager.subscribeForRegularPeriodicPacket({susData.getSid(), false, 5.0});
poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
return returnvalue::OK; return returnvalue::OK;
} }

4
mission/controller/AcsController.h
View File

@ -33,13 +33,13 @@ class AcsController : public ExtendedControllerBase {
void performPointingCtrl(); void performPointingCtrl();
private: private:
/*AcsParameters acsParameters; AcsParameters acsParameters;
SensorProcessing sensorProcessing; SensorProcessing sensorProcessing;
Navigation navigation; Navigation navigation;
ActuatorCmd actuatorCmd; ActuatorCmd actuatorCmd;
Detumble detumble; Detumble detumble;
uint8_t detumbleCounter;*/ uint8_t detumbleCounter;
enum class InternalState { STARTUP, INITIAL_DELAY, READY }; enum class InternalState { STARTUP, INITIAL_DELAY, READY };