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trigger transition into detumble no matter which mode we are in

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This commit is contained in:
Marius Eggert 2024-01-19 15:16:46 +01:00
parent 21fc431bc6
commit d8ae45b352
1 changed files with 18 additions and 27 deletions
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45
mission/controller/AcsController.cpp
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@ -178,6 +178,24 @@ void AcsController::performAttitudeControl() {
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &attitudeEstimationData, &acsParameters); &susDataProcessed, &attitudeEstimationData, &acsParameters);
if (not submode == acs::SafeSubmode::DETUMBLE) {
if (acsParameters.safeModeControllerParameters.useMekf) {
if (mgmDataProcessed.mgmVecTotDerivative.isValid() and
VectorOperations<double>::norm(mgmDataProcessed.mgmVecTotDerivative.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
}
}
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) { result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
if (not mekfInvalidFlag) { if (not mekfInvalidFlag) {
@ -284,33 +302,6 @@ void AcsController::performSafe() {
actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment, actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs); acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
// detumble check and switch
if (acsParameters.safeModeControllerParameters.useMekf) {
if (attitudeEstimationData.satRotRateMekf.isValid() and
VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (acsParameters.safeModeControllerParameters.useGyr) {
if (gyrDataProcessed.gyrVecTot.isValid() and
VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
} else if (fusedRotRateData.rotRateTotal.isValid() and
VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
} else if (detumbleCounter > 0) {
detumbleCounter -= 1;
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
}
updateCtrlValData(errAng, safeCtrlStrat); updateCtrlValData(errAng, safeCtrlStrat);
updateActuatorCmdData(cmdDipoleMtqs); updateActuatorCmdData(cmdDipoleMtqs);
commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2], commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],