From b1fa3fd01636210a38f54feef44dcf9feebe2d26 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Mar 2023 10:03:40 +0100
Subject: [PATCH] fixed max speed limitation done before calculation to right
 unit scale

---
 mission/controller/acs/ActuatorCmd.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index f32ce241..457cacce 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@@ -42,14 +42,14 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
     deltaSpeedInt[i] = std::round(deltaSpeed[i]);
   }
   VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
+  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
   for (uint8_t i = 0; i < 4; i++) {
     if (rwCmdSpeed[i] > maxRwSpeed) {
       rwCmdSpeed[i] = maxRwSpeed;
     } else if (rwCmdSpeed[i] < -maxRwSpeed) {
       rwCmdSpeed[i] = -maxRwSpeed;
     }
-  }
-  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
+    }
 }
 
 void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,