From 9dfd8491d26aee8b619818c3883da58e104afdb6 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 10 Feb 2023 10:25:13 +0100
Subject: [PATCH] added rampTime and torqueDuration to AcsParameters

---
 mission/controller/acs/AcsParameters.cpp | 5 +++++
 mission/controller/acs/AcsParameters.h   | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 13642fe9..30264963 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -278,6 +278,8 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x4:
           parameterWrapper->set(rwHandlingParameters.stictionTorque);
           break;
+        case 0x5:
+          parameterWrapper->set(rwHandlingParameters.rampTime);
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -584,6 +586,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x5:
           parameterWrapper->set(magnetorquesParameter.DipolMax);
           break;
+        case 0x6:
+          parameterWrapper->set(magnetorquesParameter.torqueDuration);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index f1c0fb63..35e316f1 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -792,6 +792,8 @@ class AcsParameters : public HasParametersIF {
     double stictionSpeed = 100;         // 80;          // RPM
     double stictionReleaseSpeed = 120;  // RPM
     double stictionTorque = 0.0006;
+
+    uint16_t rampTime = 10;
   } rwHandlingParameters;
 
   struct RwMatrices {
@@ -910,6 +912,7 @@ class AcsParameters : public HasParametersIF {
     double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
     double DipolMax = 0.2;  // [Am^2]
 
+    uint16_t torqueDuration = 300;  // [ms]
   } magnetorquesParameter;
 
   struct DetumbleParameter {