eive/eive-obsw
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fused rotation rate calculation during eclipse can be disabled
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This commit is contained in:
Marius Eggert 2023-08-03 10:09:43 +02:00
parent 81311770e8
commit acc50ca7aa
3 changed files with 6 additions and 1 deletions
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3
mission/controller/acs/AcsParameters.cpp
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@ -26,6 +26,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x1:
parameterWrapper->set(onBoardParams.mekfViolationTimer);
break;
case 0x2:
parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
break;
default:
return INVALID_IDENTIFIER_ID;
}

1
mission/controller/acs/AcsParameters.h
View File

@ -19,6 +19,7 @@ class AcsParameters : public HasParametersIF {
struct OnBoardParams {
double sampleTime = 0.4; // [s]
uint16_t mekfViolationTimer = 750;
uint8_t fusedRateSafeDuringEclipse = true;
} onBoardParams;
struct InertiaEIVE {

3
mission/controller/acs/FusedRotationEstimation.cpp
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@ -83,7 +83,8 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
void FusedRotationEstimation::estimateFusedRotationRateEclipse(
acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
if (not gyrDataProcessed->gyrVecTot.isValid() or
if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
not gyrDataProcessed->gyrVecTot.isValid() or
VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
{
PoolReadGuard pg(fusedRotRateData);