diff --git a/database/CMD_DB/AOBC_CMD_DB_BCT.csv b/database/CMD_DB/AOBC_CMD_DB_BCT.csv index 5162d9e6..52842a0e 100644 --- a/database/CMD_DB/AOBC_CMD_DB_BCT.csv +++ b/database/CMD_DB/AOBC_CMD_DB_BCT.csv @@ -20,7 +20,6 @@ Comment,Name,ShortName,BCID,エイリアス,,,,,Danger Flag,Description,Note ,BC_TL_ROUGH_THREE_AXIS,,14,,,,,,danger,, ,BC_TL_ROUGH_THREE_AXIS_RW,,15,,,,,,danger,, ,BC_TL_FINE_THREE_AXIS,,16,,,,,,danger,, -,BC_TL_GPSR_RANGE_OBSERVE,,17,,,,,,danger,, **,Block Cmds for Composition (App Rotator@@ Combiner),,,,,,,,,, *,./src_user/Settings/Modes/TaskLists/Elements/ で定義,,,,,,,,,, *,BC_AR_DEBUG_DISPLAY_INI,,,,,,,,danger,, @@ -298,3 +297,4 @@ Comment,Name,ShortName,BCID,エイリアス,,,,,Danger Flag,Description,Note ,,,,,,,,,,, ,,,,,,,,,,, ,,,,,,,,,,, +,,,,,,,,,,, diff --git a/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c b/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c index 35f6df6f..9f1fed0c 100644 --- a/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c +++ b/src/src_user/Applications/UserDefined/AOCS/aocs_mode_manager.c @@ -290,7 +290,7 @@ static void APP_AOCS_MM_fine_three_axis_exec_(void) // モード遷移後、制御収束まではdisableにしておく想定 if (aocs_mode_manager_.is_enabled_auto_mode_transition == 0) return; MD_MODEID current_mode = mode_manager->current_id; - if ((current_mode != MD_MODEID_FINE_THREE_AXIS) && (current_mode != MD_MODEID_GPSR_RANGE_OBSERVE)) return; + if (current_mode != MD_MODEID_FINE_THREE_AXIS) return; // エラーが大きすぎることを検知してBdotに戻る float error_angle_rad = fabsf(2.0f * acosf(aocs_manager->quaternion_error_b2t.scalar_part)); diff --git a/src/src_user/Settings/CMakeLists.txt b/src/src_user/Settings/CMakeLists.txt index d3fab7b8..4c00f154 100644 --- a/src/src_user/Settings/CMakeLists.txt +++ b/src/src_user/Settings/CMakeLists.txt @@ -14,7 +14,7 @@ set(C2A_SRCS Modes/TaskLists/tl_rough_three_axis.c Modes/TaskLists/tl_rough_three_axis_rw.c Modes/TaskLists/tl_fine_three_axis.c - Modes/TaskLists/tl_gpsr_range_observe.c + Modes/TaskLists/Elements/tl_elem_debug_display.c Modes/TaskLists/Elements/tl_elem_drivers_update.c Modes/TaskLists/Elements/tl_elem_gs_related_process.c diff --git a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.c b/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.c deleted file mode 100644 index 5e1fe596..00000000 --- a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.c +++ /dev/null @@ -1,46 +0,0 @@ -/** -* @file tl_gpsr_range_observe.c -* @brief GPSR疑似距離データ取得モードのタスクリスト -*/ -#pragma section REPRO -#include "tl_gpsr_range_observe.h" - -#include -#include - -#include - -void BCL_load_gpsr_range_observe_mode(void) -{ - // CDH必須アプリ - BCL_tool_register_combine(0, BC_AC_CDH_UPDATE); // 23step以上 - - // AOCS必須アプリ - BCL_tool_register_combine(25, BC_AC_BASIC_SENSOR_UPDATE); // 7step以上 - BCL_tool_register_app (35, AR_APP_AOCS_MM_FINE_THREE_AXIS); // 1step以上 - - // 精三軸制御アプリ - BCL_tool_register_combine(36, BC_AC_RM3100_UPDATE); // 4step以上 - - BCL_tool_register_combine(41, BC_AC_STIM210_UPDATE); // 1step以上 - - BCL_tool_register_combine(45, BC_AC_MTQ_UPDATE); // 1step以上, MTQ駆動時間カウンタを20 [Hz]周期にするため入れている - - BCL_tool_register_app (47, AR_DI_OEM7600); // 1step以上, TLM分割受信のために約50msecでAR_DIのみを2回呼んでいる - - BCL_tool_register_combine(49, BC_AC_SUN_VECTOR_UPDATE); // 合計4step以上必要ある？ - BCL_tool_register_combine(54, BC_AC_INERTIAL_REF_UPDATE); // 11step以上 - - BCL_tool_register_combine(66, BC_AC_STT_UPDATE); // 4step以上 - - BCL_tool_register_app (71, AR_APP_FINE_THREE_AXIS_DETERMINATION); // 1step以上 - BCL_tool_register_app (78, AR_APP_THREE_AXIS_CONTROL_RW); // 1step以上 - BCL_tool_register_app (82, AR_APP_UNLOADING); // 1step以上 - - BCL_tool_register_combine(83, BC_AC_RW_UPDATE); // 10step以上 - BCL_tool_register_combine(95, BC_AC_MTQ_UPDATE); // 1step以上 - - BCL_tool_register_app (97, AR_DI_OEM7600); // 1step以上 -} - -#pragma section diff --git a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h b/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h deleted file mode 100644 index 17291c04..00000000 --- a/src/src_user/Settings/Modes/TaskLists/tl_gpsr_range_observe.h +++ /dev/null @@ -1,10 +0,0 @@ -/** -* @file tl_gpsr_range_observe.h -* @brief GPSR疑似距離データ取得モードのタスクリスト -*/ -#ifndef TL_GPSR_RANGE_OBSERVE_H_ -#define TL_GPSR_RANGE_OBSERVE_H_ - -void BCL_load_gpsr_range_observe_mode(void); - -#endif diff --git a/src/src_user/Settings/Modes/mode_definitions.c b/src/src_user/Settings/Modes/mode_definitions.c index 180f242c..0c5d6cb4 100644 --- a/src/src_user/Settings/Modes/mode_definitions.c +++ b/src/src_user/Settings/Modes/mode_definitions.c @@ -19,7 +19,6 @@ void MD_load_mode_list(void) MM_set_mode_list(MD_MODEID_ROUGH_THREE_AXIS, BC_TL_ROUGH_THREE_AXIS); MM_set_mode_list(MD_MODEID_ROUGH_THREE_AXIS_RW, BC_TL_ROUGH_THREE_AXIS_RW); MM_set_mode_list(MD_MODEID_FINE_THREE_AXIS, BC_TL_FINE_THREE_AXIS); - MM_set_mode_list(MD_MODEID_GPSR_RANGE_OBSERVE, BC_TL_GPSR_RANGE_OBSERVE); } void MD_load_transition_table(void) @@ -53,12 +52,6 @@ void MD_load_transition_table(void) // from Fine Three Axis MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_BDOT, BC_SL_ANY_TO_BDOT); MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_FINE_THREE_AXIS, BC_SL_NOP); - MM_set_transition_table(MD_MODEID_FINE_THREE_AXIS, MD_MODEID_GPSR_RANGE_OBSERVE, BC_SL_NOP); - - // from GPSR Range Observe - MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_BDOT, BC_SL_ANY_TO_BDOT); - MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_FINE_THREE_AXIS, BC_SL_NOP); - MM_set_transition_table(MD_MODEID_GPSR_RANGE_OBSERVE, MD_MODEID_GPSR_RANGE_OBSERVE, BC_SL_NOP); } #pragma section diff --git a/src/src_user/Settings/Modes/mode_definitions.h b/src/src_user/Settings/Modes/mode_definitions.h index d7d1c8d0..7527f0af 100644 --- a/src/src_user/Settings/Modes/mode_definitions.h +++ b/src/src_user/Settings/Modes/mode_definitions.h @@ -14,7 +14,6 @@ typedef enum MD_MODEID_ROUGH_THREE_AXIS = 4, //!< 粗三軸制御モード MD_MODEID_ROUGH_THREE_AXIS_RW = 5, //!< RWを使った粗三軸捕捉制御モード MD_MODEID_FINE_THREE_AXIS = 6, //!< 精三軸制御モード - MD_MODEID_GPSR_RANGE_OBSERVE = 7, //!< GPSRのレンジテレメ取得を行うモード MD_MODEID_MODE_MAX // NOTE: tlmサイズ調整のため，最大モード数を8とする．増やすときはそちらとも調整する． } MD_MODEID; diff --git a/src/src_user/TlmCmd/block_command_definitions.c b/src/src_user/TlmCmd/block_command_definitions.c index 808e7a48..f1f966b0 100644 --- a/src/src_user/TlmCmd/block_command_definitions.c +++ b/src/src_user/TlmCmd/block_command_definitions.c @@ -19,7 +19,6 @@ #include #include #include -#include #include #include @@ -63,7 +62,6 @@ void BC_load_defaults(void) BCL_load_bc(BC_TL_ROUGH_THREE_AXIS, BCL_load_rough_three_axis_mode); BCL_load_bc(BC_TL_ROUGH_THREE_AXIS_RW, BCL_load_rough_three_axis_rw_mode); BCL_load_bc(BC_TL_FINE_THREE_AXIS, BCL_load_fine_three_axis_mode); - BCL_load_bc(BC_TL_GPSR_RANGE_OBSERVE, BCL_load_gpsr_range_observe_mode); // Block Cmds for Application Rotation / Combination // === CDH === diff --git a/src/src_user/TlmCmd/block_command_definitions.h b/src/src_user/TlmCmd/block_command_definitions.h index 5d6f7bb2..51a39a0e 100644 --- a/src/src_user/TlmCmd/block_command_definitions.h +++ b/src/src_user/TlmCmd/block_command_definitions.h @@ -31,7 +31,6 @@ typedef enum BC_TL_ROUGH_THREE_AXIS = 14, BC_TL_ROUGH_THREE_AXIS_RW = 15, BC_TL_FINE_THREE_AXIS = 16, - BC_TL_GPSR_RANGE_OBSERVE = 17, // Block Cmds for Composition (App Rotator, Combiner) // ./src_user/Settings/Modes/TaskLists/Elements/ で定義