eive/eive-obsw
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RW Cmd Antistiction Fix #868

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meggert merged 2 commits from rw-antistiction-fix into main 2024-02-26 13:10:05 +01:00
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mission/controller/acs/control/PtgCtrl.cpp
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@ -221,6 +221,8 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
} else {
rwCmdSpeeds[i] = 0;
}
}
}