eive/eive-obsw
eive/eive-obsw
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fancy GPS fdir #562

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muellerr merged 3 commits from fancy_gps_fdir into develop 2023-04-04 18:02:55 +02:00
Conversation 0 Commits 3 Files Changed 1 +25 -6
1 changed files with 25 additions and 6 deletions
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31
mission/system/acs/AcsBoardAssembly.cpp
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@ -278,15 +278,34 @@ ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
modeHelper.setForced(true);
}
};
if (healthHelper.healthTable->getHealth(helper.gpsId) == EXTERNAL_CONTROL) {
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == EXTERNAL_CONTROL or
healthHelper.healthTable->getHealth(helper.healthDevGps1) == EXTERNAL_CONTROL) {
modeHelper.setForced(true);
}
if (deviceSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
} else if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
} else if (healthHelper.healthTable->isFaulty(helper.healthDevGps0) or
healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
overwriteDeviceHealth(helper.healthDevGps0,
healthHelper.healthTable->getHealth(helper.healthDevGps0));
overwriteDeviceHealth(helper.healthDevGps1,
healthHelper.healthTable->getHealth(helper.healthDevGps1));
}
if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY and
healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY) {
overwriteDeviceHealth(helper.healthDevGps0, FAULTY);
overwriteDeviceHealth(helper.healthDevGps1, FAULTY);
} else if ()
if (deviceSubmode == duallane::DUAL_MODE) {
checkAcsBoardSensorGroup(helper.mgm0Lis3IdSideA, helper.mgm1Rm3100IdSideA,
helper.mgm2Lis3IdSideB, helper.mgm3Rm3100IdSideB);
checkAcsBoardSensorGroup(helper.gyro0AdisIdSideA, helper.gyro1L3gIdSideA,
helper.gyro2AdisIdSideB, helper.gyro3L3gIdSideB);
}
return status;
}