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Always trigger Detumble #846

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meggert merged 10 commits from detumble-fix into main 2024-01-29 17:02:30 +01:00
Conversation 1 Commits 10 Files Changed 5 +153 -179
17 changed files with 153 additions and 179 deletions
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5
mission/controller/AcsController.cpp
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@@ -195,6 +195,8 @@ void AcsController::performAttitudeControl() {
mekfInvalidFlag = false; mekfInvalidFlag = false;
} }
handleDetumbling();
switch (mode) { switch (mode) {
case acs::SAFE: case acs::SAFE:
switch (submode) { switch (submode) {
@@ -582,6 +584,7 @@ void AcsController::handleDetumbling() {
// Triggers detumble mode transition in subsystem // Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION); triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE); startTransition(mode, acs::SafeSubmode::DETUMBLE);
detumbleState = DetumbleState::IN_DETUMBLE;
break; break;
case DetumbleState::IN_DETUMBLE: case DetumbleState::IN_DETUMBLE:
if (fusedRotRateData.rotRateTotal.isValid() and if (fusedRotRateData.rotRateTotal.isValid() and
muellerr commented 2024-01-29 12:08:21 +01:00
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GYR and MEKF are not relevant anymore? (I just compared to the deleted code above..)

GYR and MEKF are not relevant anymore? (I just compared to the deleted code above..)
meggert commented 2024-01-29 14:10:57 +01:00
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for now they are irrelevant. the MEKF might come back someday

for now they are irrelevant. the MEKF might come back someday
@@ -601,7 +604,7 @@ void AcsController::handleDetumbling() {
} }
break; break;
default: default:
sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl; sif::error << "AcsController: Invalid DetumbleState" << std::endl;
} }
} }