From f112c2839156bada5b99751421dd7b0cd0a675a1 Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 14 Apr 2023 16:50:02 +0200 Subject: [PATCH] enabled commanding from ACS ctrl --- mission/controller/AcsController.cpp | 24 +++++++++++------------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index a78b6669..237c79c8 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -232,8 +232,8 @@ void AcsController::performSafe() { updateCtrlValData(errAng, safeCtrlStrat); updateActuatorCmdData(cmdDipolMtqs); - // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], - // acsParameters.magnetorquerParameter.torqueDuration); + commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], + acsParameters.magnetorquerParameter.torqueDuration); } void AcsController::performDetumble() { @@ -305,9 +305,8 @@ void AcsController::performDetumble() { disableCtrlValData(); updateActuatorCmdData(cmdDipolMtqs); - // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], - // acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0, - // acsParameters.rwHandlingParameters.rampTime); + commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], + acsParameters.magnetorquerParameter.torqueDuration); } void AcsController::performPointingCtrl() { @@ -335,10 +334,9 @@ void AcsController::performPointingCtrl() { EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); mekfInvalidCounter = 0; } - // commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration, - // cmdSpeedRws[0], - // cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], - // acsParameters.rwHandlingParameters.rampTime); + commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], + cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], + acsParameters.rwHandlingParameters.rampTime); return; } else { if (mekfInvalidFlag) { @@ -498,10 +496,10 @@ void AcsController::performPointingCtrl() { updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate); updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs); - // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], - // acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0], - // cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], - // acsParameters.rwHandlingParameters.rampTime); + commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], + acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0], + cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], + acsParameters.rwHandlingParameters.rampTime); } void AcsController::safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure) {