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Merge remote-tracking branch 'origin/develop' into thermal_controller
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Robin Müller
2023-03-16 17:48:17 +01:00
parent 350ed59033 52ab77eded
commit a16671762d
13 changed files with 42 additions and 11 deletions
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11
mission/controller/AcsController.cpp
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@ -173,7 +173,16 @@ void AcsController::performSafe() {
sunTargetDir, satRateSafe, &errAng, magMomMtq);
}
if (result == returnvalue::FAILED) {
// ToDo: this should never ever happen or we are dead. prob add an event at least
if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
safeCtrlFailureFlag = true;
}
safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 50) {
safeCtrlFailureFlag = false;
}
} else {
safeCtrlFailureFlag = false;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

3
mission/controller/AcsController.h
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@ -62,6 +62,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false;
uint16_t mekfInvalidCounter = 0;
bool safeCtrlFailureFlag = false;
uint8_t safeCtrlFailureCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0};