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we prob need a state machine here
EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit Details

This commit is contained in:
Marius Eggert 2024-01-27 13:58:17 +01:00
parent 82dd505194
commit ba6eac505e
3 changed files with 33 additions and 12 deletions
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6
mission/acs/defs.h
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@ -66,8 +66,10 @@ enum Source : uint8_t {
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
//! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The limits for the rotation in pointing mode were violated.
static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
//! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
//! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
//! cannot be maintained.
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);

36
mission/controller/AcsController.cpp
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@ -179,22 +179,38 @@ void AcsController::performAttitudeControl() {
&susDataProcessed, &attitudeEstimationData, &acsParameters);
if (not submode == acs::SafeSubmode::DETUMBLE) {
if (acsParameters.safeModeControllerParameters.useMekf) {
if (mgmDataProcessed.mgmVecTotDerivative.isValid() and
VectorOperations<double>::norm(mgmDataProcessed.mgmVecTotDerivative.value,
3) > // units do not agree
}
switch (detumbleState) {
case DetumbleState::NO_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
if (mode == acs::AcsMode::SAFE) {
detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
break;
}
detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
}
break;
case DetumbleState::DETUMBLE_FROM_PTG:
triggerEvent(acs::PTG_RATE_VIOLATION);
break;
case DetumbleState::DETUMBLE_FROM_SAFE:
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE); // this does not work
}
startTransition(mode, acs::SafeSubmode::DETUMBLE);
break;
case DetumbleState::IN_DETUMBLE:
break;
default:
sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
}
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and

3
mission/controller/AcsController.h
View File

@ -101,6 +101,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP;
enum class DetumbleState { NO_DETUMBLE, DETUMBLE_FROM_SAFE, DETUMBLE_FROM_PTG, IN_DETUMBLE };
DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
/** Device command IDs */
static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
static const DeviceCommandId_t RESET_MEKF = 0x1;