pass in target spin resolution and increase min stable gyro z

Alpha-CubeSat · Mar 25, 2024 · 60978a5 · 60978a5
1 parent b8c3aa4
commit 60978a5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/sfr.cpp b/src/sfr.cpp
@@ -12,7 +12,7 @@ namespace sfr {
     } // namespace boot
     namespace detumble {
         // OP Codes 1500
-        SFRField<uint8_t> min_stable_gyro_z = SFRField<uint8_t>((0.8 * sfr::acs::target_spin_rate.get_float() * constants::imu::sfr_resolution), 0x1500, constants::imu::sfr_resolution); // rad/s
+        SFRField<uint8_t> min_stable_gyro_z = SFRField<uint8_t>((4.0 * sfr::acs::target_spin_rate.get_float() * constants::imu::sfr_resolution), 0x1500, constants::imu::sfr_resolution); // rad/s
         SFRField<uint8_t> max_stable_gyro_x = SFRField<uint8_t>((0.1 * constants::imu::sfr_resolution), 0x1501, constants::imu::sfr_resolution);                                          // rad/s
         SFRField<uint8_t> max_stable_gyro_y = SFRField<uint8_t>((0.1 * constants::imu::sfr_resolution), 0x1502, constants::imu::sfr_resolution);                                          // rad/s
         SFRField<uint8_t> min_unstable_gyro_x = SFRField<uint8_t>((0.7 * constants::imu::sfr_resolution), 0x1503, constants::imu::sfr_resolution);                                        // rad/s
@@ -217,7 +217,7 @@ namespace sfr {
         SFRField<bool> off = SFRField<bool>(true, 0x2500);
         SFRField<uint8_t> mode = SFRField<uint8_t>((uint8_t)acs_mode_type::detumble, 0x2501);
         SFRField<uint8_t> simple_mag = SFRField<uint8_t>((uint8_t)mag_type::z, 0x2502);
-        SFRField<uint8_t> target_spin_rate = SFRField<uint8_t>(5.0 * constants::acs::spin_resolution, 0x2503);
+        SFRField<uint8_t> target_spin_rate = SFRField<uint8_t>(5.0 * constants::acs::spin_resolution, constants::acs::spin_resolution, 0x2503);
         SFRField<uint32_t> simple_current = SFRField<uint32_t>((0 - constants::acs::current_offset) * constants::acs::current_resolution, (-0.25 - constants::acs::current_offset) * constants::acs::current_resolution, (0.25 - constants::acs::current_offset) * constants::acs::current_resolution, 0x2504, constants::acs::current_resolution, constants::acs::current_offset);
         SFRField<uint32_t> on_time = SFRField<uint32_t>(5 * constants::time::one_minute, 0, constants::time::one_revolution, 0x2505);
         SFRField<uint32_t> Id_index = SFRField<uint32_t>(0, 0, (sizeof(constants::acs::Id_values) / sizeof(constants::acs::Id_values[0])) - 1, 0x2506);