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Merge pull request 'RW Status Check for ACS Ctrl' (#382) from eggert/rw-status-check into develop
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Reviewed-on: #382
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2023-02-17 10:21:33 +01:00
commit f41cf14df5
11 changed files with 79 additions and 119 deletions
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10
CHANGELOG.md
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@ -17,6 +17,13 @@ change warranting a new major release:
# [unreleased] # [unreleased]
## Added
- In case the ACS Controller does recognize more than one RW to be invalid and therefore not
available, it does not perform pointing control but aborts shortly after `sensorProcessing`. If the
problem persits for 5 ACS cycles, the `MULTIPLE_RW_INVALID` event is triggered, which invokes the
transition of the `AcsSubsystem` to safe mode.
## Changed ## Changed
- Igrf13 model vector now outputs as uT instead of nT - Igrf13 model vector now outputs as uT instead of nT
@ -25,6 +32,9 @@ change warranting a new major release:
## Fixed ## Fixed
- Fixed values for GYR sensor fusion - Fixed values for GYR sensor fusion
- Fixed speed types for `rwHandlingParameter`
- Pseudo inverse used for allocating torque to RWs and RW antistiction now actually consider the
state of the RWs
# [v1.27.2] 2023-02-14 # [v1.27.2] 2023-02-14

2
mission/acsDefs.h
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@ -23,6 +23,8 @@ static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM); static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
//!< The system has recovered from a safe rate rotation violation. //!< The system has recovered from a safe rate rotation violation.
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
//!< Multiple RWs are invalid, not commandable and therefore higher ACS modes cannot be maintained.
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
extern const char* getModeStr(AcsMode mode); extern const char* getModeStr(AcsMode mode);

17
mission/controller/AcsController.cpp
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@ -15,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
detumble(&acsParameters), detumble(&acsParameters),
ptgCtrl(&acsParameters), ptgCtrl(&acsParameters),
detumbleCounter{0}, detumbleCounter{0},
multipleRwUnavailableCounter{0},
parameterHelper(this), parameterHelper(this),
mgmDataRaw(this), mgmDataRaw(this),
mgmDataProcessed(this), mgmDataProcessed(this),
@ -263,7 +264,16 @@ void AcsController::performPointingCtrl() {
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0}, double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv); ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
if (result == returnvalue::FAILED) {
multipleRwUnavailableCounter++;
if (multipleRwUnavailableCounter > 4) {
triggerEvent(acs::MULTIPLE_RW_INVALID);
}
return;
} else {
multipleRwUnavailableCounter = 0;
}
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}; double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0}; double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
double mgtDpDes[3] = {0, 0, 0}; double mgtDpDes[3] = {0, 0, 0};
@ -385,10 +395,7 @@ void AcsController::performPointingCtrl() {
} }
if (enableAntiStiction) { if (enableAntiStiction) {
bool rwAvailable[4] = {true, true, true, true}; // WHICH INPUT SENSOR SET? ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
int32_t rwSpeed[4] = {sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value};
ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
} }
int32_t cmdSpeedRws[4] = {0, 0, 0, 0}; int32_t cmdSpeedRws[4] = {0, 0, 0, 0};

1
mission/controller/AcsController.h
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@ -50,6 +50,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
PtgCtrl ptgCtrl; PtgCtrl ptgCtrl;
uint8_t detumbleCounter; uint8_t detumbleCounter;
uint8_t multipleRwUnavailableCounter;
ParameterHelper parameterHelper; ParameterHelper parameterHelper;

10
mission/controller/acs/AcsParameters.cpp
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@ -294,17 +294,17 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(rwMatrices.pseudoInverse); parameterWrapper->set(rwMatrices.pseudoInverse);
break; break;
case 0x2: case 0x2:
parameterWrapper->set(rwMatrices.without0);
break;
case 0x3:
parameterWrapper->set(rwMatrices.without1); parameterWrapper->set(rwMatrices.without1);
break; break;
case 0x4: case 0x3:
parameterWrapper->set(rwMatrices.without2); parameterWrapper->set(rwMatrices.without2);
break; break;
case 0x5: case 0x4:
parameterWrapper->set(rwMatrices.without3); parameterWrapper->set(rwMatrices.without3);
break; break;
case 0x5:
parameterWrapper->set(rwMatrices.without4);
break;
case 0x6: case 0x6:
parameterWrapper->set(rwMatrices.nullspace); parameterWrapper->set(rwMatrices.nullspace);
break; break;

12
mission/controller/acs/AcsParameters.h
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@ -789,8 +789,8 @@ class AcsParameters : public HasParametersIF {
struct RwHandlingParameters { struct RwHandlingParameters {
double inertiaWheel = 0.000028198; double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm] double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 100; // 80; // RPM int32_t stictionSpeed = 100; // RPM
double stictionReleaseSpeed = 120; // RPM int32_t stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006; double stictionTorque = 0.0006;
uint16_t rampTime = 10; uint16_t rampTime = 10;
@ -802,13 +802,13 @@ class AcsParameters : public HasParametersIF {
{0.3907, 0.3907, 0.3907, 0.3907}}; {0.3907, 0.3907, 0.3907, 0.3907}};
double pseudoInverse[4][3] = { double pseudoInverse[4][3] = {
{0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}}; {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
double without0[4][3] = {
{0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without1[4][3] = { double without1[4][3] = {
{0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}}; {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
double without2[4][3] = { double without2[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}}; {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
double without3[4][3] = { double without3[4][3] = {
{1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
double without4[4][3] = {
{0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}}; {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000}; double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
} rwMatrices; } rwMatrices;

117
mission/controller/acs/Guidance.cpp
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@ -610,104 +610,33 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
// under 150 arcsec ?? // under 150 arcsec ??
} }
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) { ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() && double *rwPseudoInv) {
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) { bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0]; bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1]; bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2]; bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
} if (rw1valid && rw2valid && rw3valid && rw4valid) {
std::memcpy(rwPseudoInv, acsParameters.rwMatrices.pseudoInverse, 12 * sizeof(double));
else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() && return returnvalue::OK;
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) { } else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0]; std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without1, 12 * sizeof(double));
rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1]; return returnvalue::OK;
rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2]; } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0]; std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without2, 12 * sizeof(double));
rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1]; return returnvalue::OK;
rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2]; } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0]; std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without3, 12 * sizeof(double));
rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1]; return returnvalue::OK;
rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2]; } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0]; std::memcpy(rwPseudoInv, acsParameters.rwMatrices.without4, 12 * sizeof(double));
rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1]; return returnvalue::OK;
rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2]; } else {
}
else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
}
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
}
else {
// @note: This one takes the normal pseudoInverse of all four raction wheels valid. // @note: This one takes the normal pseudoInverse of all four raction wheels valid.
// Does not make sense, but is implemented that way in MATLAB ?! // Does not make sense, but is implemented that way in MATLAB ?!
// Thought: It does not really play a role, because in case there are more then one // Thought: It does not really play a role, because in case there are more then one
// reaction wheel invalid the pointing control is destined to fail. // reaction wheel invalid the pointing control is destined to fail.
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0]; return returnvalue::FAILED;
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
} }
} }

2
mission/controller/acs/Guidance.h
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@ -67,7 +67,7 @@ class Guidance {
// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
// reation wheel maybe can be done in "commanding.h" // reation wheel maybe can be done in "commanding.h"
void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv); ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
private: private:
AcsParameters acsParameters; AcsParameters acsParameters;

10
mission/controller/acs/control/PtgCtrl.cpp
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@ -161,8 +161,14 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4); VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
} }
void PtgCtrl::rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
double *torqueCommand) { bool rwAvailable[4] = {
(sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
(sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
(sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
(sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) { if (rwAvailable[i]) {
if (torqueMemory[i] != 0) { if (torqueMemory[i] != 0) {

5
mission/controller/acs/control/PtgCtrl.h
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@ -54,11 +54,10 @@ class PtgCtrl {
const int32_t *speedRw3, double *rwTrqNs); const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low /* @brief: Commands the stiction torque in case wheel speed is to low
* @param: rwAvailable Boolean Flag for all reaction wheels * @param: sensorValues class containing all RW related values
* omegaRw current wheel speed of reaction wheels
* torqueCommand modified torque after antistiction * torqueCommand modified torque after antistiction
*/ */
void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand); void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
private: private:
AcsParameters::RwHandlingParameters *rwHandlingParameters; AcsParameters::RwHandlingParameters *rwHandlingParameters;

10
mission/system/objects/AcsSubsystem.cpp
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@ -42,6 +42,11 @@ ReturnValue_t AcsSubsystem::initialize() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl; sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
} }
result =
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
}
return Subsystem::initialize(); return Subsystem::initialize();
} }
@ -64,12 +69,13 @@ void AcsSubsystem::handleEventMessages() {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl; sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
} }
} }
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) { if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
event.getEvent() == acs::MULTIPLE_RW_INVALID) {
CommandMessage msg; CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0); ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg); ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl; sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
} }
} }
break; break;