eive/eive-obsw
eive/eive-obsw
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use spg4

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This commit is contained in:
Marius Eggert 2023-08-07 11:36:30 +02:00
parent 2a0b139f70
commit e261d3609b
1 changed files with 3 additions and 0 deletions
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3
mission/controller/AcsController.cpp
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@ -167,6 +167,7 @@ void AcsController::performSafe() {
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
navigation.useSpg4(now, &gpsDataProcessed);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed, fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
@ -292,6 +293,7 @@ void AcsController::performDetumble() {
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
navigation.useSpg4(now, &gpsDataProcessed);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed, fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
@ -378,6 +380,7 @@ void AcsController::performPointingCtrl() {
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
navigation.useSpg4(now, &gpsDataProcessed);
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed, sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters); &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,