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This commit is contained in:
Marius Eggert
2023-01-10 13:52:26 +01:00
parent c79e17514c
commit ac83e66016
2 changed files with 9 additions and 11 deletions
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11
mission/controller/AcsController.cpp
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@@ -146,10 +146,10 @@ void AcsController::performControlOperation() {
{
PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) {
double zeroQuat[4] = {0, 0, 0, 0};
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
double unitQuat[4] = {0, 0, 0, 1};
std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false);
std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.errQuat.setValid(false);
ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true);
@@ -178,10 +178,9 @@ void AcsController::performControlOperation() {
{
PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0};
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetTorque.setValid(false);
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true);