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Final Version of the ACS Controller #367

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muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
Conversation 0 Commits 78 Files Changed 27 +5 -5
2 changed files with 5 additions and 5 deletions
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6
mission/controller/AcsController.cpp
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@ -51,7 +51,7 @@ void AcsController::performControlOperation() {
case SUBMODE_DETUMBLE: case SUBMODE_DETUMBLE:
performDetumble(); performDetumble();
break; break;
case SUBMODE_PTG_SUN: case SUBMODE_IDLE:
case SUBMODE_PTG_TARGET: case SUBMODE_PTG_TARGET:
case SUBMODE_PTG_NADIR: case SUBMODE_PTG_NADIR:
case SUBMODE_PTG_INERTIAL: case SUBMODE_PTG_INERTIAL:
@ -249,7 +249,7 @@ void AcsController::performPointingCtrl() {
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0}; double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
switch (submode) { switch (submode) {
case SUBMODE_PTG_SUN: case SUBMODE_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now, guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate); targetQuat, refSatRate);
break; break;
@ -452,7 +452,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE; return INVALID_SUBMODE;
} }
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) { } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > 6) || (submode < 2)) { if ((submode > 7) || (submode < 2)) {
return INVALID_SUBMODE; return INVALID_SUBMODE;
} else { } else {
return returnvalue::OK; return returnvalue::OK;

4
mission/controller/AcsController.h
View File

@ -26,9 +26,9 @@ class AcsController : public ExtendedControllerBase {
static const Submode_t SUBMODE_SAFE = 2; static const Submode_t SUBMODE_SAFE = 2;
static const Submode_t SUBMODE_DETUMBLE = 3; static const Submode_t SUBMODE_DETUMBLE = 3;
static const Submode_t SUBMODE_PTG_TARGET = 4; static const Submode_t SUBMODE_IDLE = 4;
static const Submode_t SUBMODE_PTG_NADIR = 5; static const Submode_t SUBMODE_PTG_NADIR = 5;
static const Submode_t SUBMODE_PTG_SUN = 6; static const Submode_t SUBMODE_PTG_TARGET = 6;
static const Submode_t SUBMODE_PTG_INERTIAL = 7; static const Submode_t SUBMODE_PTG_INERTIAL = 7;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;