From a71be232acaf2e9ce2ebc893f5d5113b9be17242 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 27 Apr 2023 11:21:02 +0200
Subject: [PATCH] make Robin even happier

---
 mission/controller/acs/control/PtgCtrl.cpp |  8 ++++----
 mission/controller/acs/control/PtgCtrl.h   | 10 ++++------
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp
index 98d3a0fa..21d86e28 100644
--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@@ -5,9 +5,7 @@
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/globalfunctions/sign.h>
-#include <math.h>
-
-#include "../util/MathOperations.h"
+#include <mission/controller/acs/util/MathOperations.h>
 
 PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
 
@@ -135,7 +133,9 @@ void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawP
 void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
                            const int32_t *speedRw0, const int32_t *speedRw1,
                            const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
-  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  // concentrate RW speeds as vector and convert to double
+  double speedRws[4] = {static_cast<double>(*speedRw0), static_cast<double>(*speedRw1),
+                        static_cast<double>(*speedRw2), static_cast<double>(*speedRw3)};
   double wheelMomentum[4] = {0, 0, 0, 0};
   double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
   // conversion to [rad/s] for further calculations
diff --git a/mission/controller/acs/control/PtgCtrl.h b/mission/controller/acs/control/PtgCtrl.h
index fad72e6b..870732c7 100644
--- a/mission/controller/acs/control/PtgCtrl.h
+++ b/mission/controller/acs/control/PtgCtrl.h
@@ -1,13 +1,10 @@
 #ifndef PTGCTRL_H_
 #define PTGCTRL_H_
 
+#include <math.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/SensorValues.h>
 #include <stdio.h>
-#include <string.h>
-#include <time.h>
-
-#include "../AcsParameters.h"
-#include "../SensorValues.h"
-#include "eive/resultClassIds.h"
 
 class PtgCtrl {
   /*
@@ -45,6 +42,7 @@ class PtgCtrl {
 
  private:
   const AcsParameters *acsParameters;
+  static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
 };
 
 #endif /* ACS_CONTROL_PTGCTRL_H_ */