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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 +8 -4
1 changed files with 8 additions and 4 deletions
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12
mission/controller/acs/control/SafeCtrl.cpp
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@ -26,10 +26,14 @@ acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} else if (not sunDirValid) {
if (gyrEnabled and dampingEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and dampingEnabled and satRotRateValid and fusedRateTotalValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
if (dampingEnabled) {
if (gyrEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} else if (not dampingEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else {