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ACS Ptg Ctrl Fixes #643

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muellerr merged 35 commits from acs-ptg-ctrl-fixes-2 into v3.0.0-dev 2023-06-07 11:49:10 +02:00
Conversation 0 Commits 35 Files Changed 15 +10 -10
1 changed files with 10 additions and 10 deletions
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Showing only changes of commit e3dc39a028 - Show all commits

20
mission/controller/AcsController.cpp
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@ -384,8 +384,8 @@ void AcsController::performPointingCtrl() {
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
break; break;
@ -408,8 +408,8 @@ void AcsController::performPointingCtrl() {
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
break; break;
@ -429,8 +429,8 @@ void AcsController::performPointingCtrl() {
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
break; break;
@ -453,8 +453,8 @@ void AcsController::performPointingCtrl() {
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
break; break;
@ -476,8 +476,8 @@ void AcsController::performPointingCtrl() {
ptgCtrl.ptgDesaturation( ptgCtrl.ptgDesaturation(
&acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value, &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value, mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value), sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes); sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
default: default: