eive/eive-obsw
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this should work
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This commit is contained in:
Marius Eggert
2023-11-24 11:30:27 +01:00
parent 647d5fda7c
commit c7ec9726c4
7 changed files with 94 additions and 46 deletions
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7
mission/controller/acs/FusedRotationEstimation.cpp
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@ -26,6 +26,8 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::STR;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
acsParameters->onBoardParams.fusedRateFromQuest) {
@ -38,6 +40,8 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::QUEST;
fusedRotRateData->rotRateSource.setValid(true);
}
} else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
@ -51,12 +55,15 @@ void FusedRotationEstimation::estimateFusedRotationRate(
std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
fusedRotRateData->rotRateOrthogonal.setValid(true);
fusedRotRateData->rotRateSource.value = acs::RotRateSource::SUSMGM;
fusedRotRateData->rotRateSource.setValid(true);
} else {
PoolReadGuard pg(fusedRotRateData);
if (pg.getReadResult() == returnvalue::OK) {
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
fusedRotRateData->rotRateSource.value = acs::RotRateSource::ALL_INVALID;
fusedRotRateData->setValidity(false, true);
}
}