From 7e1e02c2bc746ccd818895dc376499b82792ff6e Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 21 Jul 2023 14:24:52 +0200
Subject: [PATCH] ????

---
 mission/controller/acs/control/SafeCtrl.cpp | 18 ++++++------------
 mission/controller/acs/control/SafeCtrl.h   |  3 +--
 2 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index 4f98543c..3929d842 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -48,8 +48,7 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelMekf,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelMekf,
                                 acsParameters->safeModeControllerParameters.k_orthoMekf);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
                             acsParameters->safeModeControllerParameters.k_alignMekf);
@@ -72,8 +71,7 @@ void SafeCtrl::safeGyr(const double *magFieldB, const double *satRotRateB, const
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelGyr,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
                                 acsParameters->safeModeControllerParameters.k_orthoGyr);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
                             acsParameters->safeModeControllerParameters.k_alignGyr);
@@ -98,8 +96,7 @@ void SafeCtrl::safeSusMgm(const double *magFieldB, const double *rotRateParallel
 
   std::memcpy(satRotRateParallelB, rotRateParallelB, sizeof(satRotRateParallelB));
   std::memcpy(satRotRateOrthogonalB, rotRateOrthogonalB, sizeof(satRotRateOrthogonalB));
-  calculateRotationalRateTorque(sunDirB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
                                 acsParameters->safeModeControllerParameters.k_orthoSusMgm);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
                             acsParameters->safeModeControllerParameters.k_alignSusMgm);
@@ -121,8 +118,7 @@ void SafeCtrl::safeRateDampingGyr(const double *magFieldB, const double *satRotR
   errorAngle = NAN;
 
   splitRotationalRate(satRotRateB, sunDirRefB);
-  calculateRotationalRateTorque(sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelGyr,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelGyr,
                                 acsParameters->safeModeControllerParameters.k_orthoGyr);
 
   // sum of all torques
@@ -142,8 +138,7 @@ void SafeCtrl::safeRateDampingSusMgm(const double *magFieldB, const double *satR
   errorAngle = NAN;
 
   splitRotationalRate(satRotRateB, sunDirRefB);
-  calculateRotationalRateTorque(sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelSusMgm,
+  calculateRotationalRateTorque(acsParameters->safeModeControllerParameters.k_parallelSusMgm,
                                 acsParameters->safeModeControllerParameters.k_orthoSusMgm);
 
   // sum of all torques
@@ -161,8 +156,7 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
   VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);
 }
 
-void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
-                                             const double gainParallel, const double gainOrtho) {
+void SafeCtrl::calculateRotationalRateTorque(const double gainParallel, const double gainOrtho) {
   // calculate torque for parallel rotational rate
   VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
 
diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h
index fbe401ef..55bcbf08 100644
--- a/mission/controller/acs/control/SafeCtrl.h
+++ b/mission/controller/acs/control/SafeCtrl.h
@@ -41,8 +41,7 @@ class SafeCtrl {
                                 const double *sunDirB, const double *sunRateB,
                                 double *fusedRotRate);
 
-  void calculateRotationalRateTorque(const double *sunDirB, double &errorAngle,
-                                     const double gainParallel, const double gainOrtho);
+  void calculateRotationalRateTorque(const double gainParallel, const double gainOrtho);
 
   void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
                                  const double gainAlign);