From 4bcfb8f5a2c9a14f8fcc8fd5f903eead54e8d0b6 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 7 Jun 2023 14:13:32 +0200
Subject: [PATCH] still doesnt work

---
 linux/acs/AcsBoardPolling.cpp       | 3 +++
 mission/acs/GyrAdis1650XHandler.cpp | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/linux/acs/AcsBoardPolling.cpp b/linux/acs/AcsBoardPolling.cpp
index 1ba55357..727e8405 100644
--- a/linux/acs/AcsBoardPolling.cpp
+++ b/linux/acs/AcsBoardPolling.cpp
@@ -572,6 +572,8 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
       return;
     }
     uint16_t decRateReadBack = (rawReply[10] << 8) | rawReply[11];
+    sif::debug << "AcsPollingTask: DEC rate configuration. Read " << decRateReadBack
+               << ", expected " << decRate << std::endl;
     if (decRateReadBack != decRate) {
       sif::warning << "AcsPollingTask: DEC rate configuration failed. Read " << decRateReadBack
                    << ", expected " << decRate << std::endl;
@@ -589,6 +591,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     gyro.performStartup = false;
     gyro.replyResult = returnvalue::OK;
   }
+  sif::debug << "hello world 2" << std::endl;
   // Read regular registers
   std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
               adis1650x::BURST_READ_ENABLE.size());
diff --git a/mission/acs/GyrAdis1650XHandler.cpp b/mission/acs/GyrAdis1650XHandler.cpp
index 27e8dc75..6f447178 100644
--- a/mission/acs/GyrAdis1650XHandler.cpp
+++ b/mission/acs/GyrAdis1650XHandler.cpp
@@ -26,9 +26,9 @@ void GyrAdis1650XHandler::doStartUp() {
       breakCountdown.setTimeout(adis1650x::START_UP_TIME);
       commandExecuted = true;
     }
+    updatePeriodicReply(true, adis1650x::REPLY);
   }
   if (internalState == InternalState::STARTUP_DONE) {
-    updatePeriodicReply(true, adis1650x::REPLY);
     setMode(MODE_ON);
     internalState = InternalState::NONE;
   }