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Some ACS bugfixes #459

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muellerr merged 3 commits from acs-ctrl-bugfixes into develop 2023-03-13 10:27:07 +01:00
Conversation 0 Commits 3 Files Changed 3 +4 -1
1 changed files with 4 additions and 1 deletions
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mission/controller/AcsController.cpp
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@ -304,7 +304,7 @@ void AcsController::performPointingCtrl() {
// Variables required for setting actuators
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
mgtDpDes[3] = {0, 0, 0};
switch (submode) {
switch (mode) {
case acs::PTG_IDLE:
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
@ -416,6 +416,9 @@ void AcsController::performPointingCtrl() {
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break;
default:
sif::error << "AcsController: Invalid mode for performPointingCtrl";
break;
}
actuatorCmd.cmdSpeedToRws(