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reworked multiple rw failure handling
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Marius Eggert 2023-06-05 09:43:31 +02:00
parent 665739ba1e
commit 8e2a06256e
3 changed files with 7 additions and 1 deletions
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3
mission/controller/AcsController.cpp
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@ -349,7 +349,8 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) { if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter == 5) { if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID); triggerEvent(acs::MULTIPLE_RW_INVALID);
} }
multipleRwUnavailableCounter++; multipleRwUnavailableCounter++;

3
mission/controller/acs/AcsParameters.cpp
View File

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

2
mission/controller/acs/AcsParameters.h
View File

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