From 938a57dd854c184031dec2728088833896c1696b Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 11 May 2024 00:47:06 +0200
Subject: [PATCH] [ARP] Integrate Follower and Propagator in ACTIVE state Now
update the Propagator with NAS state stored by Hub and set as the Follower
NAS target the predicted one of the Propagator.
---
.../Automated/SMController/SMController.cpp | 18 ++++++++++++++++++
1 file changed, 18 insertions(+)
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.cpp b/src/boards/Groundstation/Automated/SMController/SMController.cpp
index be192bb19..8de5dec26 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.cpp
+++ b/src/boards/Groundstation/Automated/SMController/SMController.cpp
@@ -174,6 +174,24 @@ void SMController::update()
}
break;
}
+ // in active state, update the follower and propagator inner states
+ case SMControllerState::ACTIVE:
+ case SMControllerState::ACTIVE_NF:
+ {
+ // retrieve the last NAS Rocket state
+ Hub* hub =
+ static_cast<Hub*>(ModuleManager::getInstance().get<HubBase>());
+ NASState nasState = hub->getRocketNasState();
+
+ // update the propagator with the NAS state
+ // and retrieve the propagated state
+ propagator.setRocketNasState(nasState);
+ PropagatorState predicted = propagator.getState();
+
+ // update the follower with the propagated state
+ follower.setLastRocketNasState(predicted.getNasState());
+ break;
+ }
}
}
--
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