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This commit is contained in:
Marius Eggert
2023-07-19 15:30:54 +02:00
parent 9dfc8a0e93
commit c48be8f37b
2 changed files with 35 additions and 11 deletions
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11
mission/controller/AcsController.cpp
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@ -146,6 +146,7 @@ void AcsController::performSafe() {
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
@ -173,6 +174,7 @@ void AcsController::performSafe() {
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
acsParameters.safeModeControllerParameters.useMekf,
acsParameters.safeModeControllerParameters.useGyr,
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
switch (safeCtrlStrat) {
case (acs::SafeModeStrategy::SAFECTRL_MEKF):
@ -184,19 +186,20 @@ void AcsController::performSafe() {
break;
case (acs::SafeModeStrategy::SAFECTRL_GYR):
safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
sunTargetDir, magMomMtq, errAng);
safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;