eive/eive-obsw
eive/eive-obsw
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quat is always valid even if it shouldn't be
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This commit is contained in:
Marius Eggert 2023-12-18 09:33:46 +01:00
parent e51dd33d82
commit 9089569b93
2 changed files with 8 additions and 4 deletions
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6
mission/controller/AcsController.cpp
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@ -380,8 +380,10 @@ void AcsController::performDetumble() {
}
void AcsController::performPointingCtrl() {
bool strValid = (sensorValues.strSet.caliQw.isValid() and sensorValues.strSet.caliQx.isValid() and
sensorValues.strSet.caliQy.isValid() and sensorValues.strSet.caliQz.isValid());
bool strValid =
((sensorValues.strSet.caliQw.isValid() and sensorValues.strSet.caliQx.isValid() and
sensorValues.strSet.caliQy.isValid() and sensorValues.strSet.caliQz.isValid()) and
(sensorValues.strSet.isTrustWorthy.isValid() and sensorValues.strSet.isTrustWorthy.value));
uint8_t useMekf = false;
switch (mode) {
case acs::PTG_IDLE:

6
mission/controller/acs/FusedRotationEstimation.cpp
View File

@ -73,8 +73,10 @@ void FusedRotationEstimation::estimateFusedRotationRate(
void FusedRotationEstimation::estimateFusedRotationRateStr(
ACS::SensorValues *sensorValues, const double timeDelta,
acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
if (not(sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) {
if (not((sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid()) and
(sensorValues->strSet.isTrustWorthy.isValid() and
sensorValues->strSet.isTrustWorthy.value))) {
{
PoolReadGuard pg(fusedRotRateSourcesData);
if (pg.getReadResult() == returnvalue::OK) {