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Merge pull request 'PTG Ctrl Strat Priority' (#866) from change-ptg-strat-prios into main
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Reviewed-on: #866
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-02-26 13:13:37 +01:00
commit a1570e94e7
2 changed files with 3 additions and 2 deletions
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1
CHANGELOG.md
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@ -31,6 +31,7 @@ will consitute of a breaking change warranting a new major release:
- `FusedRotationRate` now only uses rotation rate from QUEST and STR in higher modes - `FusedRotationRate` now only uses rotation rate from QUEST and STR in higher modes
- QUEST and STR rates are now allowed per default - QUEST and STR rates are now allowed per default
- Changed PTG Strat priorities to favor STR before MEKF.
# [v7.6.1] 2024-02-05 # [v7.6.1] 2024-02-05

4
mission/controller/acs/control/PtgCtrl.cpp
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@ -15,10 +15,10 @@ acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) { const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
if (not magFieldValid) { if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::ControlModeStrategy::PTGCTRL_MEKF;
} else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_STR; return acs::ControlModeStrategy::PTGCTRL_STR;
} else if (mekfEnabled and mekfValid) {
return acs::ControlModeStrategy::PTGCTRL_MEKF;
} else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) { } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_QUEST; return acs::ControlModeStrategy::PTGCTRL_QUEST;
} }