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added performDetumble and implemented ckeckModeCommand
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This commit is contained in:
Marius Eggert
2022-09-30 11:06:17 +02:00
parent 16429009b4
commit abe5f43ae9
2 changed files with 78 additions and 4 deletions
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21
mission/controller/AcsController.h
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@ -3,7 +3,12 @@
#include <commonObjects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include "acs/ActuatorCmd.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/Detumble.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
@ -16,7 +21,23 @@ class AcsController : public ExtendedControllerBase {
AcsController(object_id_t objectId);
static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_GS = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5;
protected:
void performDetumble();
private:
AcsParameters acsParameters;
SensorProcessing sensorProcessing;
Navigation navigation;
ActuatorCmd actuatorCmd;
Detumble detumble;
uint8_t detumbleCounter;
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;