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safeCtrl using MEKF can now be disabled
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This commit is contained in:
Marius Eggert
2023-04-11 11:19:04 +02:00
parent c66799b24f
commit b6ba2f291a
5 changed files with 8 additions and 3 deletions
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4
mission/controller/acs/control/SafeCtrl.cpp
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@ -11,10 +11,10 @@ SafeCtrl::~SafeCtrl() {}
uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
const bool satRotRateValid, const bool sunDirValid,
const uint8_t dampingEnabled) {
const uint8_t mekfEnabled, const uint8_t dampingEnabled) {
if (not magFieldValid) {
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfValid) {
} else if (mekfEnabled and mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_ACTIVE_MEKF;
} else if (satRotRateValid and sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_WITHOUT_MEKF;