some things also broken some things fixed again

mission/controller/AcsController.cpp

@@ -227,10 +227,7 @@ void AcsController::performPointingCtrl() {
   navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
                      &mekfData, &validMekf);
 
-  double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
-  double quatRef[4] = {0, 0, 0, 0};
   uint8_t enableAntiStiction = true;
-
   double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
          deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -248,6 +245,7 @@ void AcsController::performPointingCtrl() {
   double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
   double mgtDpDes[3] = {0, 0, 0};
 
+  double targetQuat[4] = {0, 0, 0, 0}, targetSatRotRate[3] = {0, 0, 0};
   switch (submode) {
     case acs::PTG_IDLE:
       guidance.targetQuatPtgSun(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
@@ -273,11 +271,14 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
-                                      refSatRate);
-      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
-                  4 * sizeof(double));
-      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      if (!gpsDataProcessed.gpsPosition.isValid() || !gpsDataProcessed.gpsVelocity.isValid()) {
+        // ToDo: triggerEvent
+        return;
+      }
+      guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+                                      gpsDataProcessed.gpsVelocity.value, targetQuat,
+                                      targetSatRotRate);
+
       guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
                           deltaRate);
       ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,