desaturation cares about disabled wheels now

mission/controller/acs/control/PtgCtrl.cpp

@@ -146,7 +146,8 @@ void PtgCtrl::ptgNullspace(const bool allRwAvabilable,
                                       4);
 }
 
-void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
+void PtgCtrl::ptgDesaturation(const bool allRwAvailable,
+                              AcsParameters::PointingLawParameters *pointingLawParameters,
                               const double *magFieldB, const bool magFieldBValid,
                               const double *satRate, const int32_t speedRw0, const int32_t speedRw1,
                               const int32_t speedRw2, const int32_t speedRw3, double *mgtDpDes) {
@@ -170,9 +171,14 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
   // calculate angular momentum of the reaction wheels with respect to the nullspace RW speed
   // relocate RW speed zero to nullspace RW speed
   double refSpeedRws[4] = {0, 0, 0, 0};
-  VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
-                                      pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
-  VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
+  if (allRwAvailable) {
+    VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
+                                        pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
+    VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
+  } else if (VectorOperations<double>::maxAbsValue(speedRws, 4) <
+             pointingLawParameters->nullspaceSpeed) {
+    return;
+  }
   // convert speed from 10 RPM to 1 RPM
   VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
   // convert to rad/s