From 59a8003ad8b06dfed86971f6ba3f77c24447adff Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 18 Jan 2023 17:51:54 +0100
Subject: [PATCH] ok this should work

---
 mission/devices/GyroADIS1650XHandler.cpp          | 15 +++++++++------
 mission/devices/GyroADIS1650XHandler.h            |  2 +-
 .../devicedefinitions/GyroADIS1650XDefinitions.h  |  6 +++++-
 tmtc                                              |  2 +-
 4 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp
index 6880ad5d..5b59d7f6 100644
--- a/mission/devices/GyroADIS1650XHandler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@@ -228,15 +228,15 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
           static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
       switch (bitfield) {
         case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
-          range = GyroRange::MODEL_1BMLZ;
+          rangeMultiplicator = RANGE_1BMLZ;
           break;
         }
         case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
-          range = GyroRange::MODEL_2BMLZ;
+          rangeMultiplicator = RANGE_2BMLZ;
           break;
         }
         case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
-          range = GyroRange::MODEL_3BMLZ;
+          rangeMultiplicator = RANGE_3BMLZ;
           break;
         }
         case (RangMdlBitfield::RESERVED): {
@@ -298,11 +298,14 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
       {
         PoolReadGuard pg(&primaryDataset);
         int16_t angVelocXRaw = packet[4] << 8 | packet[5];
-        primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) / INT16_MAX * range;
+        primaryDataset.angVelocX.value =
+            static_cast<float>(angVelocXRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
         int16_t angVelocYRaw = packet[6] << 8 | packet[7];
-        primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX * range;
+        primaryDataset.angVelocY.value =
+            static_cast<float>(angVelocYRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
         int16_t angVelocZRaw = packet[8] << 8 | packet[9];
-        primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX * range;
+        primaryDataset.angVelocZ.value =
+            static_cast<float>(angVelocZRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
 
         float accelScaling = 0;
         if (adisType == ADIS1650X::Type::ADIS16507) {
diff --git a/mission/devices/GyroADIS1650XHandler.h b/mission/devices/GyroADIS1650XHandler.h
index f565bd4c..f664407c 100644
--- a/mission/devices/GyroADIS1650XHandler.h
+++ b/mission/devices/GyroADIS1650XHandler.h
@@ -46,7 +46,7 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   ADIS1650X::Type adisType;
   AdisGyroPrimaryDataset primaryDataset;
   AdisGyroConfigDataset configDataset;
-  ADIS1650X::GyroRange range = ADIS1650X::GyroRange::UNSET;
+  double rangeMultiplicator = ADIS1650X::RANGE_UNSET;
 
   bool goToNormalMode = false;
   bool warningSwitch = true;
diff --git a/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
index aedbcdc2..fb9e4d44 100644
--- a/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
+++ b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
@@ -13,7 +13,11 @@ enum class Type { ADIS16505, ADIS16507 };
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
-enum GyroRange { UNSET = 0, MODEL_1BMLZ = 125, MODEL_2BMLZ = 500, MODEL_3BMLZ = 2000 };
+// Ranges in deg / s
+static constexpr double RANGE_UNSET = 0.0;
+static constexpr double RANGE_1BMLZ = 125.0;
+static constexpr double RANGE_2BMLZ = 500.0;
+static constexpr double RANGE_3BMLZ = 2000.0;
 
 enum RangMdlBitfield {
   RANGE_125_1BMLZ = 0b00,
diff --git a/tmtc b/tmtc
index c9790911..118b4392 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit c9790911ef085cd60c7d8a8a4bf75cc9c0f14c93
+Subproject commit 118b439272a1f541a0ba9ba5a2ffd992190d7ea7