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reset the MEKF in case its results are not finite
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This commit is contained in:
Marius Eggert 2023-03-13 16:14:32 +01:00
parent 79bd349ac7
commit e77766ae59
1 changed files with 3 additions and 0 deletions
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3
mission/controller/AcsController.cpp
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@ -271,6 +271,9 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter == 5) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);