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breaking the ACS controller only for Robin
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Marius Eggert
2023-10-16 11:38:07 +02:00
parent e7276f282a
commit f61da1002f
3 changed files with 56 additions and 39 deletions
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20
mission/controller/AcsController.cpp
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@ -122,6 +122,26 @@ void AcsController::performControlOperation() {
}
}
timeval timeAbsolute;
Clock::getClock_timeval(&timeAbsolute);
timeval timeRelative;
Clock::getClockMonotonic(&timeRelative);
ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed);
if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
triggerEvent(acs::TLE_TOO_OLD);
tleTooOldFlag = true;
} else if (result != Sgp4Propagator::TLE_TOO_OLD) {
tleTooOldFlag = false;
}
sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
&gyrDataProcessed, &gpsDataProcessed, &acsParameters);
fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
&gyrDataProcessed, &fusedRotRateData);
result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
&susDataProcessed, &mekfData, &acsParameters);
switch (internalState) {
case InternalState::STARTUP: {
initialCountdown.resetTimer();