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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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16
mission/controller/acs/control/PtgCtrl.cpp
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@ -10,17 +10,17 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_
PtgCtrl::~PtgCtrl() {}
acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(const bool magFieldValid,
const bool mekfValid, const bool strValid,
const bool fusedRateValid,
const uint8_t mekfEnabled,
const uint8_t strRateEnabled) {
acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool strValid, const bool questValid,
const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
if (not magFieldValid) {
return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) {
return acs::ControlModeStrategy::PTGCTRL_ACTIVE_MEKF;
} else if (strValid and strRateEnabled and fusedRateValid) {
return acs::ControlModeStrategy::PTGCTRL_WITHOUT_MEKF;
return acs::ControlModeStrategy::PTGCTRL_MEKF;
} else if (strValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_STR;
} else if (questValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_QUEST;
} else {
return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
}