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enabled commanding from ACS ctrl
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This commit is contained in:
Marius Eggert 2023-04-14 16:50:02 +02:00
parent 4693407b68
commit f112c28391
1 changed files with 11 additions and 13 deletions
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24
mission/controller/AcsController.cpp
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@ -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) {