From 8e2a06256e05d18e88813e84fe3930a8ceb3020e Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 5 Jun 2023 09:43:31 +0200
Subject: [PATCH] reworked multiple rw failure handling

---
 mission/controller/AcsController.cpp     | 3 ++-
 mission/controller/acs/AcsParameters.cpp | 3 +++
 mission/controller/acs/AcsParameters.h   | 2 ++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 0b49de04..2faa0f64 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -349,7 +349,8 @@ void AcsController::performPointingCtrl() {
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
-    if (multipleRwUnavailableCounter == 5) {
+    if (multipleRwUnavailableCounter >=
+        acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
       triggerEvent(acs::MULTIPLE_RW_INVALID);
     }
     multipleRwUnavailableCounter++;
diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 792a72ec..d516aebd 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -290,6 +290,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x6:
           parameterWrapper->set(rwHandlingParameters.rampTime);
           break;
+        case 0x7:
+          parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 9600ca7e..7034c9ae 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -798,6 +798,8 @@ class AcsParameters : public HasParametersIF {
     double stictionTorque = 0.0006;
 
     uint16_t rampTime = 10;
+
+    uint32_t multipleRwInvalidTimeout = 25;
   } rwHandlingParameters;
 
   struct RwMatrices {