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MEKF invalid handling fix #514

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muellerr merged 5 commits from mekf-invalid-reset-counter into develop 2023-03-24 15:03:18 +01:00
Conversation 0 Commits 5 Files Changed 14 +10 -4
2 changed files with 10 additions and 4 deletions
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Showing only changes of commit 9c735e36b8 - Show all commits

6
mission/acsDefs.h
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@ -30,10 +30,12 @@ static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
//!< MEKF was not able to compute a solution.
static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
//!< MEKF is able to compute a solution again.
static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
//!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH);
//!< The ACS safe mode controller was not able to compute a solution and has failed.
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH);
extern const char* getModeStr(AcsMode mode);

8
mission/controller/AcsController.cpp
View File

@ -289,6 +289,7 @@ void AcsController::performPointingCtrl() {
&susDataProcessed, &mekfData, &acsParameters);
if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
mekfInvalidCounter++;
if (not mekfInvalidFlag) {
triggerEvent(acs::MEKF_INVALID_INFO);
mekfInvalidFlag = true;
@ -299,15 +300,18 @@ void AcsController::performPointingCtrl() {
if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
// Trigger this so STR FDIR can set the device faulty.
EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
mekfInvalidCounter = 0;
}
mekfInvalidCounter++;
// commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
// cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
// acsParameters.rwHandlingParameters.rampTime);
return;
} else {
mekfInvalidFlag = false;
if (mekfInvalidFlag) {
triggerEvent(acs::MEKF_RECOVERY);
mekfInvalidFlag = false;
}
mekfInvalidCounter = 0;
}
uint8_t enableAntiStiction = true;