From 7ab8fb8cb9f29b2e971a99adae5fe67ba5051ce8 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 15 Aug 2023 09:37:54 +0200
Subject: [PATCH 1/2] added parameter to disable usage of mgm4

---
 mission/controller/acs/AcsParameters.cpp    | 3 +++
 mission/controller/acs/AcsParameters.h      | 1 +
 mission/controller/acs/SensorProcessing.cpp | 2 +-
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 2c97fa99..7b867a46 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -113,6 +113,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
+        case 0x14:
+          parameterWrapper->set(mgmHandlingParameters.useMgm4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index ae33ac43..0fb1daa9 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -80,6 +80,7 @@ class AcsParameters : public HasParametersIF {
     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;
+    uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index a683aada..686a2fcf 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
     float mgm4ValueUT[3];
     VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,

From 196781ed4aeff86bfadb1d1193b87d827fd1af1f Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 15 Aug 2023 09:39:59 +0200
Subject: [PATCH 2/2] changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 41d1b480..033ec315 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,6 +25,8 @@ will consitute of a breaking change warranting a new major release:
   return the actual GPS data will be ignored once SPG4 is running. However, by setting the
   according parameter, the ACS Controller can be directed to ignore the SGP4 solution.
 - Skyview dataset for more GPS TM has been added
+- Parameter to disable usage of MGM4, which is part of the MTQ and therefore cannot be
+  disabled without disabling the MTQ itself.
 
 ## Fixed