From 3319a3fa4854959cc480300473b294d41109eea4 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 25 Jan 2023 16:12:14 +0100
Subject: [PATCH] removed calibration settings

---
 mission/controller/acs/AcsParameters.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 828e4495..a62b373d 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -37,21 +37,21 @@ class AcsParameters /*: public HasParametersIF*/ {
     float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
     float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
 
-    float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
-    float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
-    float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
+    float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0};//{19.89364, -29.94111, -31.07508};
+    float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0};//{10.95500, -8.053403, -33.36383};
+    float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0};//{15.72181, -26.87090, -62.19010};
     float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
     float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
 
-    float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
+    float mgm0softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};/*{{1420.727e-3, 9.352825e-3, -127.1979e-3},
                                        {9.352825e-3, 1031.965e-3, -80.02734e-3},
-                                       {-127.1979e-3, -80.02734e-3, 934.8899e-3}};
-    float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
+                                       {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
+    float mgm1softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};/*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
                                        {-4.146410e-2, 109.3310e-2, -5.246314e-2},
-                                       {-18.37963e-2, -5.246314e-2, 105.7300e-2}};
-    float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
+                                       {-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
+    float mgm2softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};/*{{143.0438e-2, 7.095763e-2, 15.67482e-2},
                                        {7.095763e-2, 99.65167e-2, -6.958760e-2},
-                                       {15.67482e-2, -6.958760e-2, 94.50124e-2}};
+                                       {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
     float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm02variance[3] = {1, 1, 1};