From 18af6228a0d617f47b0a56a457d9e57a825733ab Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 7 Feb 2023 09:30:20 +0100
Subject: [PATCH] added final calibration matrices

---
 mission/controller/acs/AcsParameters.h | 41 +++++++++++++-------------
 1 file changed, 21 insertions(+), 20 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 1fe5f29c..ab8114bb 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -37,27 +37,28 @@ class AcsParameters /*: public HasParametersIF*/ {
     float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
     float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
 
-    float mgm0hardIronOffset[3] = {3.303907e0,4.009162e0,-1.677380e1};
-    float mgm1hardIronOffset[3] = {-2.494258e0,3.526886e0,3.593006e0};
-    float mgm2hardIronOffset[3] = {-1.630907e1,5.543566e0,-1.619287e1};
-    float mgm3hardIronOffset[3] = {-8.612960e-1,2.752825e0,-1.101764e0};
-    float mgm4hardIronOffset[3] = {1.696131e0,4.624440e0,2.449785e-1};
+    float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
+    float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
+    float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
+    float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
+    float mgm4hardIronOffset[3] = {1.722133, 4.511870, 0.379980};
+
+    float mgm0softIronInverse[3][3] = {{1.163335, 0.137584, 0.203908},
+                                       {0.137584, 0.625606, 0.045537},
+                                       {0.203908, 0.045537, 1.095923}};
+    float mgm1softIronInverse[3][3] = {{0.972071, 0.131166, 0.042151},
+                                       {0.131166, 0.803260, 0.034779},
+                                       {0.042151, 0.034779, 0.923417}};
+    float mgm2softIronInverse[3][3] = {{1.234863, -0.157745, 0.070813},
+                                       {-0.157745, 0.746707, -0.062080},
+                                       {0.070813, -0.062080, 1.122514}};
+    float mgm3softIronInverse[3][3] = {{0.956890, -0.134841, 0.054017},
+                                       {-0.134841, 0.811361, -0.015383},
+                                       {0.054017, -0.015383, 0.939153}};
+    float mgm4softIronInverse[3][3] = {{0.913163, 0.011058, 0.023273},
+                                       {0.011058, 0.792295, 0.002921},
+                                       {0.023273, 0.002921, 0.739496}};
 
-    float mgm0softIronInverse[3][3] = {{9.687712e-1,1.144510e-2,-9.601610e-2},
-    								   {1.144510e-2,1.391574e0,-1.169994e-1},
-									   {-9.601610e-2,-1.169994e-1,1.025668e0}};
-    float mgm1softIronInverse[3][3] = {{1.086339e0,-4.341287e-2,-5.870281e-2},
-    								   {-4.341287e-2,1.274588e0,-1.893176e-1},
-									   {-5.870281e-2,-1.893176e-1,1.077651e0}};
-    float mgm2softIronInverse[3][3] = {{9.554406e-1,7.009618e-2,-7.924296e-2},
-    								   {7.009618e-2,1.428436e0,1.504623e-1},
-									   {-7.924296e-2,1.504623e-1,9.978038e-1}};
-    float mgm3softIronInverse[3][3] = {{1.091974e0,1.492663e-2-5.993296e-2},
-    								   {1.492663e-2,1.263068e0,2.013953e-1},
-									   {-5.993296e-2,2.013953e-1,1.055083e0}};
-    float mgm4softIronInverse[3][3] = {{1.100341e0,-7.430518e-4,-3.810031e-2},
-    								   {-7.430518e-4,1.259561e0,-1.951225e-2},
-									   {-3.810031e-2,-1.951225e-2,1.342584e0}};
     float mgm02variance[3] = {1, 1, 1};
     float mgm13variance[3] = {1, 1, 1};
     float mgm4variance[3] = {1, 1, 1};