From 59b80807baa3f2236399744361c48f24136510d6 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Feb 2023 18:34:28 +0100
Subject: [PATCH] possible fix but not sure

---
 mission/controller/AcsController.cpp  | 30 +++++++++++++--------------
 mission/controller/AcsController.h    | 12 ++++++-----
 mission/system/objects/ComSubsystem.h |  4 ++--
 3 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 81e5b1ca..7643edaa 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -432,14 +432,15 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
   return returnvalue::OK;
 }
 
-void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
+void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
   double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
   int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
   updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
 }
 
-void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
-                                          int16_t mtqTargetDipole[3]) {
+void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
+                                          const int32_t *rwTargetSpeed,
+                                          const int16_t *mtqTargetDipole) {
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -452,22 +453,19 @@ void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTa
 }
 
 void AcsController::updateCtrlValData(double errAng) {
-  double unitQuat[4] = {0, 0, 0, 1};
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.errQuat.setValid(false);
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.errAng.setValid(true);
-      ctrlValData.setValidity(true, false);
-    }
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.errAng.setValid(true);
+    ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng) {
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
   {
     PoolReadGuard pg(&ctrlValData);
     if (pg.getReadResult() == returnvalue::OK) {
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index a36f99ee..eaf80a23 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -40,6 +40,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void performPointingCtrl();
 
  private:
+  static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   Navigation navigation;
@@ -84,11 +86,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
-  void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
-  void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
-                             int16_t mtqTargetDipole[3]);
+  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
+  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
+                             const int16_t* mtqTargetDipole);
   void updateCtrlValData(double errAng);
-  void updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
   void disableCtrlValData();
 
   /* ACS Sensor Values */
@@ -187,7 +189,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> tgtQuat = PoolEntry<double>(4);
   PoolEntry<double> errQuat = PoolEntry<double>(4);
   PoolEntry<double> errAng = PoolEntry<double>();
-  PoolEntry<double> tgtRotRate = PoolEntry<double>(4);
+  PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
 
   // Actuator CMD
   acsctrl::ActuatorCmdData actuatorCmdData;
diff --git a/mission/system/objects/ComSubsystem.h b/mission/system/objects/ComSubsystem.h
index 50f34b0d..ca09a434 100644
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@@ -17,8 +17,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
-   * 														will be
-   * enabled
+   * 														will
+   * be enabled
    */
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
                uint32_t transmitterTimeout);