From 1cf3fbaabe8a45bcf40feed4c9428fa823b862f2 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meierj@irs.uni-stuttgart.de>
Date: Fri, 3 Mar 2023 10:48:59 +0100
Subject: [PATCH 1/2] fixed that mgm value was overwritten in wrong unit

---
 mission/controller/acs/control/SafeCtrl.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index 3a69e343..9ef9acf5 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -94,7 +94,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
   }
 
   // change unit from uT to T
-  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
+  double magFieldBT[3] = {0,0,0};
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
   // normalize sunDir and magDir
   double magDirB[3] = {0, 0, 0};

From ec2ec32af420e3004e09e5915c013142a45e7a88 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 3 Mar 2023 11:56:31 +0100
Subject: [PATCH 2/2] actually use the stuff i wrote

---
 mission/controller/acs/control/SafeCtrl.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index 9ef9acf5..32a77591 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -99,7 +99,7 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
 
   // normalize sunDir and magDir
   double magDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(magFieldB, magDirB, 3);
+  VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
   VectorOperations<double>::normalize(susDirB, susDirB, 3);
 
   // Cosinus angle between sunDir and magDir
@@ -160,8 +160,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
   // Magnetic moment
   double magMomB[3] = {0, 0, 0};
   double crossMagFieldTorque[3] = {0, 0, 0};
-  VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
-  double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
+  VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
+  double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
   VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
 
   std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));