From e04313b9f30d1873a92ff56455a10e42d086801e Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 27 Apr 2023 09:35:38 +0200 Subject: [PATCH] make Robin happy --- mission/controller/AcsController.cpp | 12 +++++++++--- mission/controller/acs/control/Detumble.cpp | 6 ++++-- mission/controller/acs/control/Detumble.h | 5 +++-- mission/controller/acs/control/SafeCtrl.cpp | 7 ++++--- mission/controller/acs/control/SafeCtrl.h | 6 +++--- 5 files changed, 23 insertions(+), 13 deletions(-) diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 0b49de04..c6089aa6 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -169,7 +169,7 @@ void AcsController::performSafe() { guidance.getTargetParamsSafe(sunTargetDir); double magMomMtq[3] = {0, 0, 0}, errAng = 0.0; - uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy( + acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy( mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(), acsParameters.safeModeControllerParameters.useMekf, @@ -205,6 +205,9 @@ void AcsController::performSafe() { case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): safeCtrlFailure(0, 1); break; + default: + sif::error << "AcsController: Invalid safe mode strategy for performSafe" << std::endl; + break; } actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, @@ -259,7 +262,7 @@ void AcsController::performDetumble() { triggerEvent(acs::MEKF_RECOVERY); mekfInvalidFlag = false; } - uint8_t safeCtrlStrat = detumble.detumbleStrategy( + acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy( mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(), mgmDataProcessed.mgmVecTotDerivative.isValid(), acsParameters.detumbleParameter.useFullDetumbleLaw); @@ -279,6 +282,9 @@ void AcsController::performDetumble() { case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL): safeCtrlFailure(0, 1); break; + default: + sif::error << "AcsController: Invalid safe mode strategy for performDetumble" << std::endl; + break; } actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs, @@ -477,7 +483,7 @@ void AcsController::performPointingCtrl() { enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; break; default: - sif::error << "AcsController: Invalid mode for performPointingCtrl"; + sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl; break; } diff --git a/mission/controller/acs/control/Detumble.cpp b/mission/controller/acs/control/Detumble.cpp index 9ca20862..8f422ec1 100644 --- a/mission/controller/acs/control/Detumble.cpp +++ b/mission/controller/acs/control/Detumble.cpp @@ -7,8 +7,10 @@ Detumble::Detumble() {} Detumble::~Detumble() {} -uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, - const bool magFieldRateValid, const bool useFullDetumbleLaw) { +acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid, + const bool satRotRateValid, + const bool magFieldRateValid, + const bool useFullDetumbleLaw) { if (not magFieldValid) { return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (satRotRateValid and useFullDetumbleLaw) { diff --git a/mission/controller/acs/control/Detumble.h b/mission/controller/acs/control/Detumble.h index 4424896e..9fca77e6 100644 --- a/mission/controller/acs/control/Detumble.h +++ b/mission/controller/acs/control/Detumble.h @@ -11,8 +11,9 @@ class Detumble { Detumble(); virtual ~Detumble(); - uint8_t detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, - const bool magFieldRateValid, const bool useFullDetumbleLaw); + acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid, + const bool magFieldRateValid, + const bool useFullDetumbleLaw); void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB, double gain); diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp index f0ebd5a0..43677ccf 100644 --- a/mission/controller/acs/control/SafeCtrl.cpp +++ b/mission/controller/acs/control/SafeCtrl.cpp @@ -9,9 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter SafeCtrl::~SafeCtrl() {} -uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const uint8_t mekfEnabled, const uint8_t dampingEnabled) { +acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, + const bool satRotRateValid, const bool sunDirValid, + const uint8_t mekfEnabled, + const uint8_t dampingEnabled) { if (not magFieldValid) { return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; } else if (mekfEnabled and mekfValid) { diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h index 91625360..12f9ddb0 100644 --- a/mission/controller/acs/control/SafeCtrl.h +++ b/mission/controller/acs/control/SafeCtrl.h @@ -12,9 +12,9 @@ class SafeCtrl { SafeCtrl(AcsParameters *acsParameters_); virtual ~SafeCtrl(); - uint8_t safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, - const bool satRotRateValid, const bool sunDirValid, - const uint8_t mekfEnabled, const uint8_t dampingEnabled); + acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid, + const bool satRotRateValid, const bool sunDirValid, + const uint8_t mekfEnabled, const uint8_t dampingEnabled); void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI, const double *quatBI, const double *sunDirRefB, double *magMomB,