From af33dbd1f5eadc0d8e1a501840f91f4226806ecb Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 27 Apr 2023 10:47:20 +0200
Subject: [PATCH] fixed antistiction logic

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

diff --git a/mission/controller/acs/control/PtgCtrl.cpp b/mission/controller/acs/control/PtgCtrl.cpp
index 1b20efb9..98d3a0fa 100644
--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@@ -169,15 +169,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
       if (rwCmdSpeeds[i] != 0) {
         if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
             rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
-          if (currRwSpeed[i] == 0) {
-            if (rwCmdSpeeds[i] > 0) {
-              rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
-            } else if (rwCmdSpeeds[i] < 0) {
-              rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
-            }
-          } else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
+          if (rwCmdSpeeds[i] > currRwSpeed[i]) {
             rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
-          } else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
+          } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
             rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
           }
         }