From 46c125d9fe7e87f24a2dccfb20fdb183687e44c7 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 20 Mar 2024 16:18:03 +0100
Subject: [PATCH] rot rate limit change

---
 mission/controller/acs/AcsParameters.cpp | 3 +++
 mission/controller/acs/AcsParameters.h   | 1 +
 mission/controller/acs/Guidance.cpp      | 2 +-
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 3a7aa726..a9f806ec 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -554,6 +554,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0xE:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
+        case 0xF:
+          parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 965878e7..c80627ea 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -898,6 +898,7 @@ class AcsParameters : public HasParametersIF {
     double latitudeTgt = 48.7495 * DEG2RAD;   // [rad] Latitude
     double longitudeTgt = 9.10384 * DEG2RAD;  // [rad] Longitude
     double altitudeTgt = 500;                 // [m]
+    double rotRateLimit = .5 * DEG2RAD;
   } gsTargetModeControllerParameters;
 
   struct NadirModeControllerParameters : PointingLawParameters {
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index a6559db3..2c1b3c63 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -251,7 +251,7 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
   QuaternionOperations::inverse(quatIXprev, quatXprevI);
   QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
   QuaternionOperations::normalize(quatXprevX);
-  double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
+  double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
                   acsParameters->onBoardParams.sampleTime;
   if (2 * std::acos(quatXprevX[3]) < phiMax) {
     return;