From acc50ca7aae7e75a02aef027d25b8c4548e36615 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 3 Aug 2023 10:09:43 +0200
Subject: [PATCH] fused rotation rate calculation during eclipse can be
 disabled

---
 mission/controller/acs/AcsParameters.cpp           | 3 +++
 mission/controller/acs/AcsParameters.h             | 1 +
 mission/controller/acs/FusedRotationEstimation.cpp | 3 ++-
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 9b0755cd..bcb1a7f4 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -26,6 +26,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x1:
           parameterWrapper->set(onBoardParams.mekfViolationTimer);
           break;
+        case 0x2:
+          parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index cdaf4899..0f2b53c9 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -19,6 +19,7 @@ class AcsParameters : public HasParametersIF {
   struct OnBoardParams {
     double sampleTime = 0.4;  // [s]
     uint16_t mekfViolationTimer = 750;
+    uint8_t fusedRateSafeDuringEclipse = true;
   } onBoardParams;
 
   struct InertiaEIVE {
diff --git a/mission/controller/acs/FusedRotationEstimation.cpp b/mission/controller/acs/FusedRotationEstimation.cpp
index 6653f4d1..a818536f 100644
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -83,7 +83,8 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
 
 void FusedRotationEstimation::estimateFusedRotationRateEclipse(
     acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
-  if (not gyrDataProcessed->gyrVecTot.isValid() or
+  if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
+      not gyrDataProcessed->gyrVecTot.isValid() or
       VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
     {
       PoolReadGuard pg(fusedRotRateData);