Merge remote-tracking branch 'origin/main' into safe-strat-improvement

CHANGELOG.md

@@ -27,6 +27,8 @@ will consitute of a breaking change warranting a new major release:
 - Skyview dataset for more GPS TM has been added
 - The MGM and SUS vectors being too close together does not prevent the usage of the safe
   mode controller anymore.
+- Parameter to disable usage of MGM4, which is part of the MTQ and therefore cannot be
+  disabled without disabling the MTQ itself.
 
 ## Fixed
 

mission/controller/acs/AcsParameters.cpp

@@ -113,6 +113,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
+        case 0x14:
+          parameterWrapper->set(mgmHandlingParameters.useMgm4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -80,6 +80,7 @@ class AcsParameters : public HasParametersIF {
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
     float mgmDerivativeFilterWeight = 0.85;
+    uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {

mission/controller/acs/SensorProcessing.cpp

@@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
     float mgm4ValueUT[3];
     VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,