Diff: main.cpp

Revision:

8:aad4f22221b1

Parent:

7:a46a1dee4497

Child:

9:f66c57a01e05

diff -r a46a1dee4497 -r aad4f22221b1 main.cpp
--- a/main.cpp	Sat Jan 23 11:35:20 2016 +0000
+++ b/main.cpp	Mon Jan 25 17:27:26 2016 +0000
@@ -55,6 +55,8 @@
 float data[6];
 
 extern float moment[3];
+int flag_firsttime=1, controlmode, alarmmode=0;
+float b_old[3];
 extern uint8_t BCN_FEN;
 extern BAE_HK_actual actual_data;
 extern BAE_HK_quant quant_data;
@@ -202,12 +204,12 @@
     {
     FLAG();
     FCTN_ATS_DATA_ACQ(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
-    pc.printf("gyro values\n\r"); //printing the angular velocity and magnetic field values
+    pc.printf("gyro values in rad/sec \n\r"); //printing the angular velocity and magnetic field values
     for(int i=0; i<3; i++) 
     {
         pc.printf("%f\n\r",actual_data.AngularSpeed_actual[i]);
     }
-    pc.printf("mag values\n\r");
+    pc.printf("mag values in Tesla \n\r");
     for(int i=0; i<3; i++) 
     {
         pc.printf("%f\n\r",actual_data.Bvalue_actual[i]);
@@ -265,7 +267,7 @@
                             FLAG();
                             printf("\n\r nominal");
                             ACS_STATUS = '4';                    // set ACS_STATUS = ACS_NOMINAL_ONLY
-                            FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);
+                            FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
                             printf("\n\r moment values returned by control algo \n");
                             for(int i=0; i<3; i++) 
                             {
@@ -289,7 +291,8 @@
                                     FLAG();
                                     printf("\n\r Entered detumbling \n");
                                     ACS_STATUS = '6';                    // set ACS_STATUS = ACS_DETUMBLING_ONLY  
-                                    FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);  // detumbling code has to be included
+                                    //FCTN_ACS_CNTRLALGO(actual_data.Bvalue_actual,actual_data.AngularSpeed_actual);  // detumbling code has to be included
+                                    FCTN_ACS_CNTRLALGO(moment,actual_data.Bvalue_actual,actual_data.AngularSpeed_actual,b_old,alarmmode, flag_firsttime, controlmode);
                                     FCTN_ACS_GENPWM_MAIN(moment) ; 
                                 }
                                 else