eive/eive-obsw
eive/eive-obsw
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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); PoolReadGuard pg(&ctrlValData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
double zeroQuat[4] = {0, 0, 0, 0}; double unitQuat[4] = {0, 0, 0, 1};
std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double)); std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
ctrlValData.tgtQuat.setValid(false); 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.errQuat.setValid(false);
ctrlValData.errAng.value = errAng; ctrlValData.errAng.value = errAng;
ctrlValData.errAng.setValid(true); ctrlValData.errAng.setValid(true);
@ -178,10 +178,9 @@ void AcsController::performControlOperation() {
{ {
PoolReadGuard pg(&actuatorCmdData); PoolReadGuard pg(&actuatorCmdData);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
int32_t zeroVec[4] = {0, 0, 0, 0}; std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(int32_t));
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
actuatorCmdData.rwTargetTorque.setValid(false); 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); actuatorCmdData.rwTargetSpeed.setValid(false);
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t)); std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
actuatorCmdData.mtqTargetDipole.setValid(true); actuatorCmdData.mtqTargetDipole.setValid(true);

5
mission/controller/acs/control/SafeCtrl.cpp
View File

@ -87,7 +87,7 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
return returnvalue::OK; return returnvalue::OK;
} }
// Will be the version in worst case scenario in event of no working MEKF (nor RMUs) // Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB, void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
bool sunRateBValid, double *magFieldB, bool magFieldBValid, bool sunRateBValid, double *magFieldB, bool magFieldBValid,
double *magRateB, bool magRateBValid, double *sunDirRef, double *magRateB, bool magRateBValid, double *sunDirRef,
@ -127,8 +127,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3); VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
/* Only valid if angle between sun direction and magnetic field direction /* Only valid if angle between sun direction and magnetic field direction
is sufficiently large */ * is sufficiently large */
double angleSunMag = acos(cosAngleSunMag); double angleSunMag = acos(cosAngleSunMag);
if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) { if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
return; return;