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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 -4
2 changed files with 3 additions and 4 deletions
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4
mission/controller/AcsController.cpp
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@ -7,10 +7,10 @@
AcsController::AcsController(object_id_t objectId, bool enableHkSets) AcsController::AcsController(object_id_t objectId, bool enableHkSets)
: ExtendedControllerBase(objectId), : ExtendedControllerBase(objectId),
enableHkSets(enableHkSets), enableHkSets(enableHkSets),
fusedRotationEstimation(&acsParameters),
guidance(&acsParameters), guidance(&acsParameters),
safeCtrl(&acsParameters), safeCtrl(&acsParameters),
ptgCtrl(&acsParameters), ptgCtrl(&acsParameters),
fusedRotationEstimation(&acsParameters),
parameterHelper(this), parameterHelper(this),
mgmDataRaw(this), mgmDataRaw(this),
mgmDataProcessed(this), mgmDataProcessed(this),
@ -208,7 +208,7 @@ void AcsController::performSafe() {
safeCtrlFailureFlag = false; safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0; safeCtrlFailureCounter = 0;
break; break;
case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR): case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value, safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq, fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
errAng); errAng);

3
mission/controller/acs/FusedRotationEstimation.h
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@ -17,11 +17,10 @@ class FusedRotationEstimation {
protected: protected:
private: private:
double constexpr ZERO_VEC[3] = {0, 0, 0}; static constexpr double ZERO_VEC[3] = {0, 0, 0};
AcsParameters *acsParameters; AcsParameters *acsParameters;
double rotRateOldB[3] = {0, 0, 0}; double rotRateOldB[3] = {0, 0, 0};
// double fusedRateOldB[3] = {0, 0, 0};
void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed, void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::FusedRotRateData *fusedRotRateData); acsctrl::FusedRotRateData *fusedRotRateData);