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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 +18 -11
1 changed files with 18 additions and 11 deletions
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Showing only changes of commit c6294cadbd - Show all commits

19
mission/controller/acs/control/SafeCtrl.cpp
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@ -17,20 +17,27 @@ acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
} else if (mekfEnabled and mekfValid) { } else if (mekfEnabled and mekfValid) {
return acs::SafeModeStrategy::SAFECTRL_MEKF; return acs::SafeModeStrategy::SAFECTRL_MEKF;
} else if (gyrEnabled and satRotRateValid and sunDirValid) { } else if (sunDirValid) {
if (gyrEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_GYR; return acs::SafeModeStrategy::SAFECTRL_GYR;
} else if (not gyrEnabled and sunDirValid and fusedRateSplitValid) { } else if (not gyrEnabled and fusedRateSplitValid) {
return acs::SafeModeStrategy::SAFECTRL_SUSMGM; return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
} else if (gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) { } else {
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; return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
} else if (not gyrEnabled and dampingEnabled and satRotRateValid and fusedRateTotalValid and } else if (not gyrEnabled and dampingEnabled and satRotRateValid and fusedRateTotalValid) {
not sunDirValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM; return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
} else if (not dampingEnabled and satRotRateValid and not sunDirValid) { } else if (not dampingEnabled and satRotRateValid) {
return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING; return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
} else { } else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL; return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
} }
} else {
return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
}
} }
void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB, void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,