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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
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mission/controller/AcsController.cpp
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@ -271,6 +271,9 @@ void AcsController::performPointingCtrl() {
triggerEvent(acs::MEKF_INVALID_INFO); triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true; mekfInvalidFlag = true;
} }
if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
navigation.resetMekf(&mekfData);
}
if (mekfInvalidCounter == 5) { if (mekfInvalidCounter == 5) {
// Trigger this so STR FDIR can set the device faulty. // Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0); EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);