From 4b8f5992b544a39ef7be96cef24a4e517b532148 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 16 Feb 2023 11:48:16 +0100
Subject: [PATCH] matched naming to actual RWs

---
 mission/controller/acs/AcsParameters.cpp | 10 +++++-----
 mission/controller/acs/AcsParameters.h   |  8 ++++----
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 44bed15f..a06d6a58 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -294,17 +294,17 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(rwMatrices.pseudoInverse);
           break;
         case 0x2:
-          parameterWrapper->set(rwMatrices.without0);
-          break;
-        case 0x3:
           parameterWrapper->set(rwMatrices.without1);
           break;
-        case 0x4:
+        case 0x3:
           parameterWrapper->set(rwMatrices.without2);
           break;
-        case 0x5:
+        case 0x4:
           parameterWrapper->set(rwMatrices.without3);
           break;
+        case 0x5:
+          parameterWrapper->set(rwMatrices.without4);
+          break;
         case 0x6:
           parameterWrapper->set(rwMatrices.nullspace);
           break;
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index f68b10cf..a930052b 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -802,13 +802,13 @@ class AcsParameters : public HasParametersIF {
                                     {0.3907, 0.3907, 0.3907, 0.3907}};
     double pseudoInverse[4][3] = {
         {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
-    double without0[4][3] = {
-        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
     double without1[4][3] = {
-        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
+        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
     double without2[4][3] = {
-        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
     double without3[4][3] = {
+        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+    double without4[4][3] = {
         {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
     double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
   } rwMatrices;