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Fixes for RW Commanding #852

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meggert merged 11 commits from cmd-rw-fix into main 2024-01-29 14:13:33 +01:00
Conversation 1 Commits 11 Files Changed 6 +18
1 changed files with 18 additions and 0 deletions
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18
mission/controller/AcsController.cpp
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@ -885,6 +885,24 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
}
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
if (mode == acs::AcsMode::SAFE) {
{
PoolReadGuard pg(&rw1SpeedSet);
rw1SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw2SpeedSet);
rw2SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw3SpeedSet);
rw3SpeedSet.setRwSpeed(0, 10);
}
{
PoolReadGuard pg(&rw4SpeedSet);
rw4SpeedSet.setRwSpeed(0, 10);
}
}
return ExtendedControllerBase::modeChanged(mode, submode);
}