From a09cc86336213142e2f7b85471d080aeaf3a899a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 13 Apr 2023 14:29:24 +0200
Subject: [PATCH] final safe mode params

---
 mission/controller/acs/AcsParameters.cpp |  8 +-------
 mission/controller/acs/AcsParameters.h   | 16 ++++++----------
 2 files changed, 7 insertions(+), 17 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 8eb8e3d4..fb2adf43 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -348,15 +348,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
           break;
         case 0x8:
-          parameterWrapper->set(safeModeControllerParameters.satRateRef);
-          break;
-        case 0x9:
-          parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
-          break;
-        case 0xA:
           parameterWrapper->set(safeModeControllerParameters.useMekf);
           break;
-        case 0xB:
+        case 0x9:
           parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
           break;
         default:
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index b5849262..0b37cfe0 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -810,21 +810,17 @@ class AcsParameters : public HasParametersIF {
   } rwMatrices;
 
   struct SafeModeControllerParameters {
-    double k_orthoMekf = 1.0e-1;
-    double k_alignMekf = 7.0e-5;
-    double k_parallelMekf = 4.0e-4;
+    double k_orthoMekf = 3.25e-2;
+    double k_alignMekf = 4.0e-5;
+    double k_parallelMekf = 3.75e-4;
 
-    double k_orthoNonMekf = 1.0e-1;
-    double k_alignNonMekf = 7.0e-5;
-    double k_parallelNonMekf = 4.0e-4;
+    double k_orthoNonMekf = 3.25e-2;
+    double k_alignNonMekf = 4.0e-5;
+    double k_parallelNonMekf = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
-    double satRateRef = 0;
-
-    float angleStartSpin = 20 * M_PI / 180;
-
     uint8_t useMekf = true;
     uint8_t dampingDuringEclipse = true;
   } safeModeControllerParameters;