From 5ad02aa5e0850fa14733e3471039a414edadf262 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Thu, 30 May 2024 22:11:44 +0200
Subject: [PATCH] [ARP] Update algorithm tasks spawned with start
Now all the algorithms are manually stepped inside the update function
and treated as a pipeline.
---
.../Automated/SMController/SMController.cpp | 16 +++-------------
1 file changed, 3 insertions(+), 13 deletions(-)
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.cpp b/src/boards/Groundstation/Automated/SMController/SMController.cpp
index b62045068..d4807967d 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.cpp
+++ b/src/boards/Groundstation/Automated/SMController/SMController.cpp
@@ -59,22 +59,10 @@ bool SMController::start()
size_t result;
bool ok = true;
- // add the Propagator task
- result = scheduler->addTask(bind(&Propagator::update, &propagator),
- PropagatorConfig::PROPAGATOR_PERIOD,
- TaskScheduler::Policy::RECOVER);
- ok &= result != 0;
-
- // add the Follower task
- result = scheduler->addTask(bind(&Follower::update, &follower),
- FollowerConfig::FOLLOWER_PERIOD,
- TaskScheduler::Policy::RECOVER);
- ok &= result != 0;
-
// add the update task
result = scheduler->addTask(bind(&SMController::update, this),
SMControllerConfig::UPDATE_PERIOD,
- TaskScheduler::Policy::SKIP);
+ TaskScheduler::Policy::RECOVER);
ok &= result != 0;
return ActiveObject::start() && ok;
@@ -218,10 +206,12 @@ void SMController::update()
// update the propagator with the NAS state
// and retrieve the propagated state
propagator.setRocketNasState(nasState);
+ propagator.update(); // step the propagator
PropagatorState predicted = propagator.getState();
// update the follower with the propagated state
follower.setLastRocketNasState(predicted.getNasState());
+ follower.update(); // step the follower
break;
}
default:
--
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