CHANGELOG.md

@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Readded rotation rate from the `MEKF` to the detumble state machine.
+
 # [v8.2.0] 2024-06-26
 
 ## Changed

mission/controller/AcsController.cpp

@@ -557,9 +557,12 @@ void AcsController::performPointingCtrl() {
 void AcsController::handleDetumbling() {
   switch (detumbleState) {
     case DetumbleState::NO_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+      if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
            VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) >
-              acsParameters.detumbleParameter.omegaDetumbleStart) {
+               acsParameters.detumbleParameter.omegaDetumbleStart) and
+          (attitudeEstimationData.satRotRateMekf.isValid() and
+           VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
+               acsParameters.detumbleParameter.omegaDetumbleStart)) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
         detumbleCounter -= 1;
@@ -601,9 +604,12 @@ void AcsController::handleDetumbling() {
       detumbleState = DetumbleState::NO_DETUMBLE;
       break;
     case DetumbleState::IN_DETUMBLE:
-      if (fusedRotRateData.rotRateTotalSusMgm.isValid() and
+      if ((fusedRotRateData.rotRateTotalSusMgm.isValid() and
            VectorOperations<double>::norm(fusedRotRateData.rotRateTotalSusMgm.value, 3) <
-              acsParameters.detumbleParameter.omegaDetumbleEnd) {
+               acsParameters.detumbleParameter.omegaDetumbleEnd) and
+          (attitudeEstimationData.satRotRateMekf.isValid() and
+           VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
+               acsParameters.detumbleParameter.omegaDetumbleEnd)) {
         detumbleCounter++;
       } else if (detumbleCounter > 0) {
         detumbleCounter -= 1;