eive/eive-obsw
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reworked multiple rw failure handling
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This commit is contained in:
Marius Eggert 2023-06-05 09:43:31 +02:00
parent 939eeb09ec
commit a5f9bb3177
3 changed files with 7 additions and 1 deletions
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3
mission/controller/AcsController.cpp
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@ -349,7 +349,8 @@ void AcsController::performPointingCtrl() {
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
if (multipleRwUnavailableCounter == 5) {
if (multipleRwUnavailableCounter >=
acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
}
multipleRwUnavailableCounter++;

3
mission/controller/acs/AcsParameters.cpp
View File

@ -290,6 +290,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x6:
parameterWrapper->set(rwHandlingParameters.rampTime);
break;
case 0x7:
parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
break;
default:
return INVALID_IDENTIFIER_ID;
}

2
mission/controller/acs/AcsParameters.h
View File

@ -798,6 +798,8 @@ class AcsParameters : public HasParametersIF {
double stictionTorque = 0.0006;
uint16_t rampTime = 10;
uint32_t multipleRwInvalidTimeout = 25;
} rwHandlingParameters;
struct RwMatrices {