Merge branch 'develop' into bugfix_syrlinks
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b11ed219a2
@ -24,6 +24,8 @@ will consitute of a breaking change warranting a new major release:
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- IMTQ assembly
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- Syrlinks assembly
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- Dual Lane Assembly
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- RWs are no longer commanded by the ACS Controller during safe mode. Instead the RW speed command
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is set to 0 as part or the `doShutDown` of the RW handler.
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## Fixed
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@ -55,6 +55,10 @@ void RwHandler::doShutDown() {
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PoolReadGuard pg(&tmDataset);
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tmDataset.setValidity(false, true);
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}
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{
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PoolReadGuard pg(&rwSpeedActuationSet);
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rwSpeedActuationSet.setRwSpeed(0, 10);
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}
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// The power switch is handled by the assembly, so we can go off here directly.
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setMode(MODE_OFF);
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}
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@ -221,9 +221,8 @@ void AcsController::performSafe() {
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updateCtrlValData(errAng);
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updateActuatorCmdData(cmdDipolMtqs);
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// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
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// acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
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// acsParameters.rwHandlingParameters.rampTime);
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// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
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// acsParameters.magnetorquerParameter.torqueDuration);
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}
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void AcsController::performDetumble() {
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@ -472,6 +471,18 @@ void AcsController::performPointingCtrl() {
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// acsParameters.rwHandlingParameters.rampTime);
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}
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ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration) {
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{
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PoolReadGuard pg(&dipoleSet);
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MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
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torquer::LOCK_CTX);
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torquer::NEW_ACTUATION_FLAG = true;
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dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
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}
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return returnvalue::OK;
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}
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ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration, int32_t rw1Speed,
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int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
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@ -105,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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void modeChanged(Mode_t mode, Submode_t submode);
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void announceMode(bool recursive);
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ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration);
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ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
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uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
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int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
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