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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
View File

@ -189,8 +189,23 @@ void AcsController::performSafe() {
// PoolReadGuard pg(&dipoleSet); // PoolReadGuard pg(&dipoleSet);
// MutexGuard mg(torquer::lazyLock()); // MutexGuard mg(torquer::lazyLock());
// torquer::NEW_ACTUATION_FLAG = true; // torquer::NEW_ACTUATION_FLAG = true;
// dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], // dipoleSet.setDipoles(dipolCmdUnits[0], dipolCmdUnits[1], dipolCmdUnits[2], 0);
// 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);
// } // }
} }
@ -251,6 +266,22 @@ void AcsController::performDetumble() {
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2], // dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration); // 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() { void AcsController::performPointingCtrl() {
@ -431,6 +462,22 @@ void AcsController::performPointingCtrl() {
// dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2], // dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
// torqueDuration); // 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, ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,

8
mission/controller/AcsController.h
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@ -17,6 +17,7 @@
#include "eive/objects.h" #include "eive/objects.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h" #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h" #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h" #include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h" #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
@ -72,8 +73,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
/* ACS Sensor Values */ /* ACS Sensor Values */
ACS::SensorValues sensorValues; ACS::SensorValues sensorValues;
/* ACS Datasets */ /* ACS Actuation Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER); IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
RwDefinitions::RwSpeedActuationSet rw1SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW1);
RwDefinitions::RwSpeedActuationSet rw2SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW2);
RwDefinitions::RwSpeedActuationSet rw3SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW3);
RwDefinitions::RwSpeedActuationSet rw4SpeedSet = RwDefinitions::RwSpeedActuationSet(objects::RW4);
/* ACS Datasets */
// MGMs // MGMs
acsctrl::MgmDataRaw mgmDataRaw; acsctrl::MgmDataRaw mgmDataRaw;
PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3); PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);