ACS Ptg Ctrl Fixes #643
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Reference: eive/eive-obsw#643
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WIP: ACS Ptg Ctrl Fixesto ACS Ptg Ctrl Fixes@ -379,3 +379,3 @@break;case 0x5:parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);This looks like something which can break the MIB. Can it? If it does, I'd still be okay with this for v3.0.0 if the current MIB is not able to manipulate the parameter anyway.
after discussion: The operator manually specifies the parameter ID, so a release into v3.0.0 is okay.
@ -34,0 +25,4 @@const double sampleTime, const double inertiaWheel,const int32_t maxRwSpeed, const double *rwTorque,int32_t *rwCmdSpeed) {// concentrate RW speed values (in 0.1 [RPM]) in vectorgather or group would probably be a better word here
fixed
@ -531,10 +518,6 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));return returnvalue::OK;} else {// @note: This one takes the normal pseudoInverse of all four raction wheels valid.Comment not necessary anymore: This can not happen anymore?
This could happen, which is why a rtval::FAILED is returned. This will then instantly return performPointingCtrl(), i. e. the controller will not calculate anything or command anything. Therefore, the discussion in this comment is purely academic and not needed.
Also, I would hope the RW FDIR catches this before it gets to here, as a fallback to safe is needed. We could also use the triggered event to set the RW Ass to faulty, if we wanted to.