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use safeCtrl even if SUS and MGM vectors are too close
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This commit is contained in:
Marius Eggert
2023-08-15 09:11:57 +02:00
parent 8447b3c41e
commit d82a6ece5a
3 changed files with 26 additions and 17 deletions
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6
mission/controller/AcsController.cpp
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@ -204,8 +204,7 @@ void AcsController::performSafe() {
acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
acsParameters.safeModeControllerParameters.useMekf,
fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
acsParameters.safeModeControllerParameters.useGyr,
acsParameters.safeModeControllerParameters.dampingDuringEclipse);
switch (safeCtrlStrat) {
@ -223,7 +222,8 @@ void AcsController::performSafe() {
safeCtrlFailureCounter = 0;
break;
case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
fusedRotRateData.rotRateParallel.value,
fusedRotRateData.rotRateOrthogonal.value,
susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
safeCtrlFailureFlag = false;