From 44d0f1c533920079a58630ae06ead0e607e27102 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 24 Mar 2023 14:51:07 +0100
Subject: [PATCH] frmt

---
 mission/controller/acs/AcsParameters.cpp | 23 +++++++++++++----------
 mission/controller/acs/AcsParameters.h   | 14 ++++++++------
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 54be281c..4d963bec 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -321,36 +321,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
     case (0x8):  // SafeModeControllerParameters
       switch (parameterId) {
         case 0x0:
-          parameterWrapper->set(safeModeControllerParameters.k_ortho_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoMekf);
           break;
         case 0x1:
-          parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_alignMekf);
           break;
         case 0x2:
-          parameterWrapper->set(safeModeControllerParameters.k_parallel_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
           break;
         case 0x3:
-          parameterWrapper->set(safeModeControllerParameters.k_ortho_no_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_orthoNonMekf);
           break;
         case 0x4:
-          parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_alignNonMekf);
           break;
         case 0x5:
-          parameterWrapper->set(safeModeControllerParameters.k_parallel_no_mekf);
+          parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
           break;
         case 0x6:
-          parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
+          parameterWrapper->set(safeModeControllerParameters.k_rateDamping);
           break;
         case 0x7:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
+          parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
           break;
         case 0x8:
-          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
           break;
         case 0x9:
-          parameterWrapper->setVector(safeModeControllerParameters.satRateRef);
+          parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
           break;
         case 0xA:
+          parameterWrapper->setVector(safeModeControllerParameters.satRateRef);
+          break;
+        case 0xB:
           parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
           break;
         default:
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index d5946245..92de01e0 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -811,13 +811,15 @@ class AcsParameters : public HasParametersIF {
   } rwMatrices;
 
   struct SafeModeControllerParameters {
-    double k_ortho_mekf = 2.0e-1;
-    double k_align_mekf = 5.0e-4;
-    double k_parallel_mekf = 1.4e-4;
+    double k_orthoMekf = 2.0e-1;
+    double k_alignMekf = 5.0e-4;
+    double k_parallelMekf = 1.4e-4;
 
-    double k_ortho_no_mekf = 2.0e-1;
-    double k_align_no_mekf = 5.0e-4;
-    double k_parallel_no_mekf = 1.4e-4;
+    double k_orthoNonMekf = 2.0e-1;
+    double k_alignNonMekf = 5.0e-4;
+    double k_parallelNonMekf = 1.4e-4;
+
+    double k_rateDamping = 0;
 
     double sunMagAngleMin = 5 * M_PI / 180;