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This commit is contained in:
Marius Eggert
2023-03-24 15:18:52 +01:00
parent 506c8a3fa6
commit 90db9785ea
2 changed files with 14 additions and 11 deletions
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13
mission/controller/AcsController.cpp
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@ -154,13 +154,15 @@ void AcsController::performSafe() {
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}
} else {
} else if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
// get desired satellite rate, sun direction to align to and inertia
double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0},
inertiaEive[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -260,11 +262,12 @@ void AcsController::performDetumble() {
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}
} else {
} else if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
double magMomMtq[3] = {0, 0, 0};
@ -317,7 +320,7 @@ void AcsController::performPointingCtrl() {
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
triggerEvent(acs::MEKF_AUTOMATIC_RECOVERY);
triggerEvent(acs::MEKF_AUTOMATIC_RESET);
navigation.resetMekf(&mekfData);
mekfLost = true;
}