From 8f0b0f47c9cec9f6a826eb2ce56b0602d9708415 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 3 Aug 2023 11:32:08 +0200
Subject: [PATCH] not sure if we need it here but doesnot matter

---
 mission/controller/acs/FusedRotationEstimation.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/mission/controller/acs/FusedRotationEstimation.cpp b/mission/controller/acs/FusedRotationEstimation.cpp
index a818536f..bca5f190 100644
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -18,6 +18,10 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
       std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
       fusedRotRateData->setValidity(false, true);
     }
+    // store for calculation of angular acceleration
+    if (gyrDataProcessed->gyrVecTot.isValid()) {
+      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
+    }
     return;
   }
   if (not susDataProcessed->susVecTot.isValid()) {