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ACS Safe Ctrl Failure Event #484

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muellerr merged 12 commits from acs-safe-mode-failure into develop 2023-03-15 16:27:43 +01:00
Conversation 1 Commits 12 Files Changed 9 +1119 -1689
71 changed files with 1119 additions and 1689 deletions
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mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@@ -1089,6 +1089,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}; {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double)); std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
std::memcpy(propagatedQuaternion, resetQuaternion, 4 * sizeof(double));
std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double)); std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED); updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
return MEKF_UNINITIALIZED; return MEKF_UNINITIALIZED;