From 63b6db258c0fcfed17db1f39b0de49747643bbff Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Sep 2023 14:37:04 +0200
Subject: [PATCH] params for new safe mode

---
 mission/controller/acs/AcsParameters.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 0fb1daa9..a9c9ab5d 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -79,7 +79,7 @@ class AcsParameters : public HasParametersIF {
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
-    float mgmDerivativeFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.99;
     uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
@@ -771,7 +771,7 @@ class AcsParameters : public HasParametersIF {
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
     float susVectorFilterWeight = .85;
-    float susRateFilterWeight = .85;
+    float susRateFilterWeight = .99;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -834,15 +834,15 @@ class AcsParameters : public HasParametersIF {
     double k_alignGyr = 4.0e-5;
     double k_parallelGyr = 3.75e-4;
 
-    double k_orthoSusMgm = 1.1e-2;
-    double k_alignSusMgm = 2.0e-5;
-    double k_parallelSusMgm = 4.4e-4;
+    double k_orthoSusMgm = 4.4e-3;
+    double k_alignSusMgm = 4.0e-5;
+    double k_parallelSusMgm = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
-    uint8_t useGyr = true;
+    uint8_t useGyr = false;
     uint8_t dampingDuringEclipse = true;
 
     float sineLimitSunRotRate = 0.24;