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added RwSpeedActuationSets to AcsController
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This commit is contained in:
Marius Eggert
2023-02-09 17:31:26 +01:00
parent 5a5d00e4e5
commit a3eaace4a5
2 changed files with 56 additions and 3 deletions
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51
mission/controller/AcsController.cpp
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@ -189,8 +189,23 @@ void AcsController::performSafe() {
// PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
// torqueDuration);
// dipoleSet.setDipoles(dipolCmdUnits[0], dipolCmdUnits[1], dipolCmdUnits[2], 0);
// }
// {
// PoolReadGuard pg(&rw1SpeedSet);
// rw1SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw2SpeedSet);
// rw2SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw3SpeedSet);
// rw3SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw4SpeedSet);
// rw4SpeedSet.setRwSpeed(0);
// }
}
@ -251,6 +266,22 @@ void AcsController::performDetumble() {
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
// {
// PoolReadGuard pg(&rw1SpeedSet);
// rw1SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw2SpeedSet);
// rw2SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw3SpeedSet);
// rw3SpeedSet.setRwSpeed(0);
// }
// {
// PoolReadGuard pg(&rw4SpeedSet);
// rw4SpeedSet.setRwSpeed(0);
// }
}
void AcsController::performPointingCtrl() {
@ -431,6 +462,22 @@ void AcsController::performPointingCtrl() {
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration);
// }
// {
// PoolReadGuard pg(&rw1SpeedSet);
// rw1SpeedSet.setRwSpeed(cmdRwSpeedInt[0]);
// }
// {
// PoolReadGuard pg(&rw2SpeedSet);
// rw2SpeedSet.setRwSpeed(cmdRwSpeedInt[1]);
// }
// {
// PoolReadGuard pg(&rw3SpeedSet);
// rw3SpeedSet.setRwSpeed(cmdRwSpeedInt[2]);
// }
// {
// PoolReadGuard pg(&rw4SpeedSet);
// rw4SpeedSet.setRwSpeed(cmdRwSpeedInt[3]);
// }
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,