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Merge branch 'develop' into acs-ctrl-finite-check
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This commit is contained in:
Marius Eggert
2023-03-21 11:30:26 +01:00
parent 53c38d9c05 2f990d8bbc
commit a92f664770
40 changed files with 589 additions and 386 deletions
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13
mission/controller/AcsController.cpp
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@ -181,7 +181,18 @@ 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;
safeCtrlFailureCounter = 0;
}
} else {
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
}
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,