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TCS CTRL bugfix #730

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muellerr merged 6 commits from tcs-ctrl-bugfix into main 2023-07-07 11:44:39 +02:00
Conversation 1 Commits 6 Files Changed 2 +97 -149
26 changed files with 97 additions and 149 deletions
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3
CHANGELOG.md
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@@ -27,6 +27,9 @@ will consitute of a breaking change warranting a new major release:
- TMP1075: Set dataset invalid on shutdown explicitely - TMP1075: Set dataset invalid on shutdown explicitely
- Small fixes for TMP1075 FDIR: Use strange and missed reply counters. - Small fixes for TMP1075 FDIR: Use strange and missed reply counters.
- TCS controller: A helper member to track the elapsed heater control cycles was not reset
properly, which could lead to switch transitions being completed immediately. This can
lead to weird bugs like switched being commanded on twice.
# [v6.0.0] 2023-07-02 # [v6.0.0] 2023-07-02

13
mission/controller/ThermalController.cpp
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@@ -1687,8 +1687,9 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
// Heater off // Heater off
if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) { if (htrCtx.switchState == HeaterHandler::SwitchState::OFF) {
if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) { if (sensorTemp < htrCtx.tempLimit.opLowerLimit and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " ON" << std::endl; sif::info << "TCS: Heater " << (int)htrCtx.switchNr << " for component "
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, thermalComponent); << static_cast<int>(currThermalComponent) << " ON" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::ON, currThermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true; heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON; heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::ON;
} else { } else {
@@ -1704,8 +1705,9 @@ void ThermalController::checkLimitsAndCtrlHeater(HeaterContext& htrCtx) {
if (thermalStates[thermalComponent].heating) { if (thermalStates[thermalComponent].heating) {
// We are already in a heating cycle, so need to check whether heating task is complete. // We are already in a heating cycle, so need to check whether heating task is complete.
if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) { if (sensorTemp >= htrCtx.tempLimit.opLowerLimit + TEMP_OFFSET and heaterCtrlAllowed()) {
sif::info << "TCS: Heater " << static_cast<int>(thermalComponent) << " OFF" << std::endl; sif::info << "TCS: Heater " << (int)htrCtx.switchNr << " for component "
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, thermalComponent); << static_cast<int>(currThermalComponent) << " OFF" << std::endl;
heaterSwitchHelper(htrCtx.switchNr, HeaterHandler::SwitchState::OFF, currThermalComponent);
heaterStates[htrCtx.switchNr].switchTransition = true; heaterStates[htrCtx.switchNr].switchTransition = true;
heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF; heaterStates[htrCtx.switchNr].target = HeaterHandler::SwitchState::OFF;
} }
@@ -1755,9 +1757,10 @@ void ThermalController::heaterTransitionControl(const HeaterSwitchStates& curren
if (heaterStates[i].switchTransition) { if (heaterStates[i].switchTransition) {
if (currentHeaterStates[i] == heaterStates[i].target) { if (currentHeaterStates[i] == heaterStates[i].target) {
heaterStates[i].switchTransition = false; heaterStates[i].switchTransition = false;
heaterStates[i].heaterSwitchControlCycles = 0;
continue; continue;
} }
if (heaterStates[i].heaterSwitchControlCycles > 3) { if (heaterStates[i].heaterSwitchControlCycles > 5) {
heaterStates[i].switchTransition = false; heaterStates[i].switchTransition = false;
heaterStates[i].heaterSwitchControlCycles = 0; heaterStates[i].heaterSwitchControlCycles = 0;
} }