eive/eive-obsw
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detumbleCounter doesnt hard reset anymore
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This commit is contained in:
Marius Eggert 2023-03-07 10:12:52 +01:00
parent faf4937e76
commit bd295d5b52
1 changed files with 4 additions and 4 deletions
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8
mission/controller/AcsController.cpp
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@ -185,8 +185,8 @@ void AcsController::performSafe() {
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) > VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) { acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++; detumbleCounter++;
} else { } else if (detumbleCounter > 0) {
detumbleCounter = 0; detumbleCounter -= 1;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0; detumbleCounter = 0;
@ -235,8 +235,8 @@ void AcsController::performDetumble() {
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) < VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
acsParameters.detumbleParameter.omegaDetumbleEnd) { acsParameters.detumbleParameter.omegaDetumbleEnd) {
detumbleCounter++; detumbleCounter++;
} else { } else if (detumbleCounter > 0) {
detumbleCounter = 0; detumbleCounter -= 1;
} }
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0; detumbleCounter = 0;