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WIP: Fixes for Pointing Controller #616

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meggert wants to merge 49 commits from acs-ptg-ctrl-fixes into v2.1.0-dev
pull from: acs-ptg-ctrl-fixes
merge into: eive:v2.1.0-dev
Conversation 1 Commits 49 Files Changed 30 +2 -8
1 changed files with 2 additions and 8 deletions
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Showing only changes of commit af33dbd1f5 - Show all commits

10
mission/controller/acs/control/PtgCtrl.cpp
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@ -169,15 +169,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
if (rwCmdSpeeds[i] != 0) { if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed && if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) { rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
if (currRwSpeed[i] == 0) { if (rwCmdSpeeds[i] > currRwSpeed[i]) {
if (rwCmdSpeeds[i] > 0) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < 0) { } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed; rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} }
} }