eive/eive-obsw
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this should be it for OBSW
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This commit is contained in:
Robin Müller
2023-03-10 13:17:46 +01:00
parent c80426309d
commit c85c2cf4b6
7 changed files with 28 additions and 101 deletions
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12
mission/controller/AcsController.cpp
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@ -641,7 +641,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
}
} else if (not((mode < acs::AcsMode::SAFE) or (mode > acs::AcsMode::PTG_INERTIAL))) {
if (mode == acs::AcsMode::SAFE) {
if (not((submode == SUBMODE_NONE) or (submode == acs::AcsMode::DETUMBLE))) {
if (not((submode == SUBMODE_NONE) or (submode == acs::SafeSubmode::DETUMBLE))) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
@ -664,13 +664,17 @@ void AcsController::announceMode(bool recursive) {
if (mode == HasModesIF::MODE_OFF) {
modeStr = "OFF";
} else {
*modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
}
const char *submodeStr = "UNKNOWN";
if (submode == HasModesIF::SUBMODE_NONE) {
submodeStr = "NONE";
} else {
*submodeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
}
if (mode == acs::AcsMode::SAFE) {
acs::SafeSubmode safeSubmode = static_cast<acs::SafeSubmode>(this->submode);
if (safeSubmode == acs::SafeSubmode::DETUMBLE) {
submodeStr = "DETUMBLE";
}
}
sif::info << "ACS controller is now in " << modeStr << " mode with " << submodeStr << " submode"
<< std::endl;