eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

acs ctrl state machine done
Some checks failed
EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit
Details

Browse Source
This commit is contained in:
Marius Eggert
2024-01-29 09:32:01 +01:00
parent ba6eac505e
commit c67f65369c
2 changed files with 69 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
mission/controller/AcsController.h
View File

@ -46,11 +46,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint16_t startAtIndex) override;
protected:
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
private:
static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
@ -101,7 +96,13 @@ 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 };
enum class DetumbleState {
NO_DETUMBLE,
DETUMBLE_FROM_PTG,
PTG_TO_SAFE_TRANSITION,
DETUMBLE_FROM_SAFE,
IN_DETUMBLE
};
DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
/** Device command IDs */
@ -137,6 +138,13 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
void performAttitudeControl();
void performSafe();
void performDetumble();
void performPointingCtrl();
void handleDetumbling();
void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);
ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,