eive/eive-obsw
eive/eive-obsw
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stuff

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This commit is contained in:
Marius Eggert 2023-03-15 10:06:24 +01:00
parent 4fdb2de510
commit ccf1fcaa79
2 changed files with 9 additions and 7 deletions
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12
mission/controller/AcsController.cpp
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@ -173,14 +173,16 @@ void AcsController::performSafe() {
sunTargetDir, satRateSafe, &errAng, magMomMtq); sunTargetDir, satRateSafe, &errAng, magMomMtq);
} }
if (result == returnvalue::FAILED) { if (result == returnvalue::FAILED) {
if (not doomFlag) { if (not safeCtrlFailureFlag) {
triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE); triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
doomFlag = true; safeCtrlFailureFlag = true;
} }
doomCounter++; safeCtrlFailureCounter++;
if (doomCounter > 5) { if (safeCtrlFailureCounter > 50) {
doomFlag = false; safeCtrlFailureFlag = false;
} }
} else {
safeCtrlFailureFlag = false;
} }
actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,

4
mission/controller/AcsController.h
View File

@ -62,8 +62,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
uint8_t multipleRwUnavailableCounter = 0; uint8_t multipleRwUnavailableCounter = 0;
bool mekfInvalidFlag = false; bool mekfInvalidFlag = false;
uint16_t mekfInvalidCounter = 0; uint16_t mekfInvalidCounter = 0;
bool doomFlag = false; bool safeCtrlFailureFlag = false;
uint8_t doomCounter = 0; uint8_t safeCtrlFailureCounter = 0;
int32_t cmdSpeedRws[4] = {0, 0, 0, 0}; int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
int16_t cmdDipolMtqs[3] = {0, 0, 0}; int16_t cmdDipolMtqs[3] = {0, 0, 0};