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Finite check for MEKF #465

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muellerr merged 13 commits from acs-ctrl-finite-check into develop 2023-03-21 11:47:33 +01:00
Conversation 0 Commits 13 Files Changed 15 +2 -2
1 changed files with 2 additions and 2 deletions
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mission/controller/AcsController.cpp
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@ -239,7 +239,7 @@ void AcsController::performDetumble() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
} else {
@ -293,7 +293,7 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
}
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {