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- fixed missing declarations of functions
- fixed use of deprecated submode definitions
- changed naming of some submodes
This commit is contained in:
Marius Eggert
2023-02-07 13:09:42 +01:00
parent 5f9a445aa2
commit e3cc45d7e3
4 changed files with 37 additions and 31 deletions
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18
mission/controller/AcsController.cpp
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@ -71,11 +71,11 @@ void AcsController::performControlOperation() {
case acs::DETUMBLE:
performDetumble();
break;
case acs::IDLE:
case acs::PTG_IDLE:
case acs::PTG_TARGET:
case acs::PTG_TARGET_GS:
case acs::PTG_TARGET_NADIR:
case acs::PTG_TARGET_INERTIAL:
case acs::PTG_TARGET_GS:
case acs::PTG_NADIR:
case acs::PTG_INERTIAL:
performPointingCtrl();
break;
}
@ -282,7 +282,7 @@ void AcsController::performPointingCtrl() {
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
switch (submode) {
case SUBMODE_IDLE:
case acs::PTG_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -306,7 +306,7 @@ void AcsController::performPointingCtrl() {
break;
case SUBMODE_PTG_TARGET:
case acs::PTG_TARGET:
guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -329,7 +329,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_TARGET_GS:
case acs::PTG_TARGET_GS:
guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
@ -352,7 +352,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_NADIR:
case acs::PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
@ -374,7 +374,7 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_INERTIAL:
case acs::PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
4 * sizeof(double));

5
mission/controller/AcsController.h
View File

@ -26,6 +26,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
AcsController(object_id_t objectId);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
protected:
void performSafe();
void performDetumble();