From c6e8c40b2c2f4d5176baff1909ea358b04042f0f Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 12 Dec 2022 14:50:27 +0100
Subject: [PATCH] added schmidt normalization + cleanup

---
 mission/controller/acs/SensorProcessing.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index c02398ce..6055b50d 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -139,6 +139,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     Igrf13Model igrf13;
     // So the line above should not be done here. Update: Can be done here as long updated coffs
     //		stored in acsParameters ?
+    igrf13.schmidtNormalization();
     igrf13.updateCoeffGH(timeOfMgmMeasurement);
     // maybe put a condition here, to only update after a full day, this
     // class function has around 700 steps to perform
@@ -550,19 +551,18 @@ void SensorProcessing::processGyr(
   }
 }
 
-void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
+void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
                                   const bool validGps,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
   // name to convert not process
   double gdLongitude, gcLatitude;
   if (validGps) {
     // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
-    gdLongitude = gps0longitude * PI / 180;
-    double latitudeRad = gps0latitude * PI / 180;
+    gdLongitude = gpsLongitude * PI / 180;
+    double latitudeRad = gpsLatitude * PI / 180;
     double eccentricityWgs84 = 0.0818195;
     double factor = 1 - pow(eccentricityWgs84, 2);
     gcLatitude = atan(factor * tan(latitudeRad));
-    // validGcLatitude = true;
   }
   {
     PoolReadGuard pg(gpsDataProcessed);