From ae729337a2623464d61737482bd224d04a466787 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 13 Apr 2023 14:39:40 +0200
Subject: [PATCH] removed deprecated code

---
 mission/controller/acs/control/SafeCtrl.cpp | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index de800a42..940be1c3 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -119,22 +119,10 @@ void SafeCtrl::calculateRotationalRateTorque(const double satRotRateRef, const d
                                              const double *sunDirRefB, double &errorAngle,
                                              const double gainParallel, const double gainOrtho) {
   // calculate torque for parallel rotational rate
-  if ((isfinite(errorAngle)) and
-      (errorAngle < (double)acsParameters->safeModeControllerParameters.angleStartSpin)) {
-    double satRotRateNorm = VectorOperations<double>::norm(satRotRateParallelB, 3);
-    double satRotRateUnitVec[3] = {0, 0, 0};
-    VectorOperations<double>::normalize(satRotRateParallelB, satRotRateUnitVec, 3);
-    VectorOperations<double>::mulScalar(satRotRateUnitVec, satRotRateRef - satRotRateNorm,
-                                        cmdParallel, 3);
-  } else {
-    VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);
-  }
+  VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);
 
   // calculate torque for orthogonal rotational rate
   VectorOperations<double>::mulScalar(satRotRateOrthogonalB, -gainOrtho, cmdOrtho, 3);
-  if (cos(VectorOperations<double>::dot(sunDirB, sunDirRefB)) < 0) {
-    VectorOperations<double>::mulScalar(cmdOrtho, -1, cmdOrtho, 3);
-  }
 }
 
 void SafeCtrl::calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,