Merge remote-tracking branch 'origin/main' into meier/pdec-config-readback

CHANGELOG.md

@@ -28,6 +28,8 @@ will consitute of a breaking change warranting a new major release:
 - `PDEC_CONFIG_CORRUPTED` event which is triggered when the PDEC configuration does not match the
   expected configuration. P1 will contain the readback of the first word and P2 will contain the
   readback of the second word.
+- Parameter to disable usage of MGM4, which is part of the MTQ and therefore cannot be
+  disabled without disabling the MTQ itself.
 
 ## Fixed
 

mission/controller/acs/AcsParameters.cpp

@@ -113,6 +113,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x13:
           parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
           break;
+        case 0x14:
+          parameterWrapper->set(mgmHandlingParameters.useMgm4);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }

mission/controller/acs/AcsParameters.h

@@ -80,6 +80,7 @@ class AcsParameters : public HasParametersIF {
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
     float mgmDerivativeFilterWeight = 0.85;
+    uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {

mission/controller/acs/SensorProcessing.cpp

@@ -101,7 +101,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
-  if (mgm4valid) {
+  if (mgm4valid and mgmParameters->useMgm4) {
     float mgm4ValueUT[3];
     VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
     MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,