eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

fixed antistiction logic
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
Details

Browse Source
This commit is contained in:
Marius Eggert 2023-04-27 10:47:20 +02:00
parent 3ccf93c4d8
commit af33dbd1f5
1 changed files with 2 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
mission/controller/acs/control/PtgCtrl.cpp
View File

@ -169,15 +169,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
if (rwCmdSpeeds[i] != 0) { if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed && if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) { rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
if (currRwSpeed[i] == 0) { if (rwCmdSpeeds[i] > currRwSpeed[i]) {
if (rwCmdSpeeds[i] > 0) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < 0) { } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} }
} }