eive/eive-obsw
eive/eive-obsw
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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 +3 -2
1 changed files with 3 additions and 2 deletions
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5
mission/controller/AcsController.cpp
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@ -181,7 +181,8 @@ void AcsController::performAttitudeControl() {
if (not submode == acs::SafeSubmode::DETUMBLE) {
if (acsParameters.safeModeControllerParameters.useMekf) {
if (mgmDataProcessed.mgmVecTotDerivative.isValid() and
VectorOperations<double>::norm(mgmDataProcessed.mgmVecTotDerivative.value, 3) >
VectorOperations<double>::norm(mgmDataProcessed.mgmVecTotDerivative.value,
3) > // units do not agree
acsParameters.detumbleParameter.omegaDetumbleStart) {
detumbleCounter++;
}
@ -192,7 +193,7 @@ void AcsController::performAttitudeControl() {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
startTransition(mode, acs::SafeSubmode::DETUMBLE); // this does not work
}
}