From 7517b33d83123a586619489c047c420a0ab80476 Mon Sep 17 00:00:00 2001 From: meggert Date: Mon, 26 Feb 2024 09:39:13 +0100 Subject: [PATCH 1/2] if this doesnt fix the invalid speeds ... --- mission/controller/acs/control/PtgCtrl.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp index 0294e8b6..eb1e35c8 100644 --- a/mission/controller/acs/control/PtgCtrl.cpp +++ b/mission/controller/acs/control/PtgCtrl.cpp @@ -221,6 +221,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed; } else if (rwCmdSpeeds[i] < currRwSpeed[i]) { rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed; + } else { + rwCmdSpeeds[i] = 0; } } } From d14b83fab9bb9ff310211bb4998a949abd5e9814 Mon Sep 17 00:00:00 2001 From: meggert Date: Mon, 26 Feb 2024 09:44:09 +0100 Subject: [PATCH 2/2] changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index baccb4cb..4a9e7e42 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,6 +25,7 @@ will consitute of a breaking change warranting a new major release: - Bugfix in PLOC MPSoC HK set: Set and variables were not set valid. - The `PTG_CTRL_NO_ATTITUDE_INFORMATION` will now actually trigger a fallback into safe mode and is triggered by the `AcsController` now. +- Fixed a corner case, in which an invalid speed command could be sent to the `RwHandler`. # [v7.6.1] 2024-02-05