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WIP: ACS Ptg Modes Strategy #665

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meggert wants to merge 38 commits from acs-ptg-strat into v3.0.0-dev
pull from: acs-ptg-strat
merge into: eive:v3.0.0-dev
Conversation 0 Commits 38 Files Changed 18 +34 -19
1 changed files with 34 additions and 19 deletions
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Showing only changes of commit b54330140b - Show all commits

53
mission/controller/acs/AcsParameters.cpp
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@ -392,6 +392,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
case 0x9:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(idleModeControllerParameters.useMekf);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -429,36 +432,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
parameterWrapper->set(targetModeControllerParameters.useMekf);
break;
case 0xB:
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break;
case 0xC:
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break;
case 0xD:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break;
case 0xE:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break;
case 0xF:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break;
case 0x10:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break;
case 0x11:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break;
case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x14:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x15:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
default:
@ -498,18 +504,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
break;
case 0xB:
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
break;
case 0xC:
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
break;
case 0xD:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
break;
case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
break;
case 0xF:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break;
default:
@ -549,15 +558,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
parameterWrapper->set(nadirModeControllerParameters.useMekf);
break;
case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break;
case 0xC:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break;
case 0xD:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
break;
case 0xE:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;
default:
@ -597,12 +609,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
parameterWrapper->set(inertialModeControllerParameters.useMekf);
break;
case 0xB:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break;
case 0xC:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break;
case 0xD:
parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
break;
default: