eive/eive-obsw
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reset mekfInvalidCounter after STR FDIR event and also trigger event in case mekf has recovered

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This commit is contained in:
Marius Eggert 2023-03-23 10:27:32 +01:00
parent b6e08f369a
commit 9c735e36b8
2 changed files with 10 additions and 4 deletions
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6
mission/acsDefs.h
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@ -30,10 +30,12 @@ static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH); static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
//!< MEKF was not able to compute a solution. //!< MEKF was not able to compute a solution.
static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO); static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
//!< MEKF is able to compute a solution again.
static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time. //!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH); static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH);
//!< The ACS safe mode controller was not able to compute a solution and has failed. //!< The ACS safe mode controller was not able to compute a solution and has failed.
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH); static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH);
extern const char* getModeStr(AcsMode mode); extern const char* getModeStr(AcsMode mode);

6
mission/controller/AcsController.cpp
View File

@ -289,6 +289,7 @@ void AcsController::performPointingCtrl() {
&susDataProcessed, &mekfData, &acsParameters); &susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING && if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++;
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true; mekfInvalidFlag = true;
@ -299,15 +300,18 @@ void AcsController::performPointingCtrl() {
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) { if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty. // Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
mekfInvalidCounter = 0;
} }
mekfInvalidCounter++;
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, // commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
// cmdSpeedRws[0], // cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], // cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime); // acsParameters.rwHandlingParameters.rampTime);
return; return;
} else { } else {
if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false; mekfInvalidFlag = false;
}
mekfInvalidCounter = 0; mekfInvalidCounter = 0;
} }
uint8_t enableAntiStiction = true; uint8_t enableAntiStiction = true;