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New Safe Mode Controller #748

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muellerr merged 31 commits from acs-safe-flp-v2 into main 2023-07-26 11:08:12 +02:00
Conversation 2 Commits 31 Files Changed 15 +3 -3
1 changed files with 3 additions and 3 deletions
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Showing only changes of commit 5f481fd4d0 - Show all commits

6
mission/controller/acs/FusedRotationEstimation.cpp
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@ -9,9 +9,9 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) { acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
if ((not mgmDataProcessed->mgmVecTot.isValid()) or if ((not mgmDataProcessed->mgmVecTot.isValid()) or
(not susDataProcessed->susVecTot.isValid() and (not susDataProcessed->susVecTot.isValid() and
VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3)) == 0 or not fusedRotRateData->rotRateTotal.isValid()) or
((VectorOperations<double>::norm(susDataProcessed->susVecTotDerivative.value, 3) == 0 and (not susDataProcessed->susVecTotDerivative.isValid() and
VectorOperations<double>::norm(mgmDataProcessed->mgmVecTotDerivative.value, 3) == 0))) { not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
{ {
PoolReadGuard pg(fusedRotRateData); PoolReadGuard pg(fusedRotRateData);
std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double)); std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));