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first implementation of new laws
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Marius Eggert
2023-04-05 16:11:28 +02:00
parent 7a7d0e650f
commit ce7da9f513
3 changed files with 101 additions and 91 deletions
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8
mission/controller/AcsController.cpp
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@ -177,20 +177,20 @@ void AcsController::performSafe() {
case (SafeCtrl::SAFECTRL_USE_MEKF):
safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
satRateSafe, magMomMtq, errAng);
satRateSafe, inertiaEive, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (SafeCtrl::SAFECTRL_USE_NONMEKF):
safeCtrl.safeNonMekf(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
susDataProcessed.susVecTot.value, sunTargetDir, satRateSafe, magMomMtq,
errAng);
susDataProcessed.susVecTot.value, sunTargetDir, satRateSafe, inertiaEive,
magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;
case (SafeCtrl::SAFECTRL_USE_DAMPING):
safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
satRateSafe, magMomMtq, errAng);
satRateSafe, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
break;