From cc82b8aa4223ac038eced821427426db6338a4a9 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 20 Sep 2022 11:20:13 +0200
Subject: [PATCH] small formatting fixes

---
 mission/controller/acs/AcsParameters.cpp | 93 ++++++++++++++----------
 1 file changed, 53 insertions(+), 40 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 63d8951d..7f5b26c1 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -8,38 +8,46 @@ AcsParameters::AcsParameters() {
 
 	onBoardParams.sampleTime = 0.1;
 
-	inertiaEIVE.inertiaMatrix = {{  1.0, 0.0, 0.0},
-	                             {  0.0, 1.0, 0.0},
-	                             {  0.0, 0.5, 1.0}};
+	inertiaEIVE.inertiaMatrix = {
+			{  1.0, 0.0, 0.0},
+			{  0.0, 1.0, 0.0},
+			{  0.0, 0.5, 1.0}};
 
-	mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
-												   { 0, 1, 0},
-												   { 1, 0, 0}};
-	/*mgmHandlingParameters.mgm1orientationMatrix = {{ 0, 0, 1},
-			                                       { 0,-1, 0},
-												   { 1, 0, 0}};
-	mgmHandlingParameters.mgm2orientationMatrix = {{ 0, 0,-1},
-			                                       { 0, 1, 0},
-												   { 1 ,0, 0}};
-    mgmHandlingParameters.mgm3orientationMatrix = {{ 0, 0, 1},
-    		                                       { 0,-1, 0},
-												   { 1, 0, 0}};
-	mgmHandlingParameters.mgm4orientationMatrix = {{ 0, 0,-1},
-	                                               {-1, 0, 0},
-	                                               { 0, 1, 0}};*/
+	mgmHandlingParameters.mgm0orientationMatrix = {
+			{ 0, 0,-1},
+			{ 0, 1, 0},
+			{ 1, 0, 0}};
+	mgmHandlingParameters.mgm1orientationMatrix = {
+			{ 0, 0, 1},
+			{ 0,-1, 0},
+			{ 1, 0, 0}};
+	mgmHandlingParameters.mgm2orientationMatrix = {
+			{ 0, 0,-1},
+			{ 0, 1, 0},
+			{ 1 ,0, 0}};
+    mgmHandlingParameters.mgm3orientationMatrix = {
+    		{ 0, 0, 1},
+			{ 0,-1, 0},
+			{ 1, 0, 0}};
+	mgmHandlingParameters.mgm4orientationMatrix = {
+			{ 0, 0,-1},
+			{-1, 0, 0},
+			{ 0, 1, 0}};
 
 	rwHandlingParameters.inertiaWheel = 0.000028198;
 	rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
 
 	//Geometry frame
-	rwMatrices.alignmentMatrix = {{  0.9205,  0.0000, -0.9205,  0.0000},
-			                      {  0.0000, -0.9205,  0.0000,  0.9205},
-								  {  0.3907,  0.3907,  0.3907,  0.3907}};
+	rwMatrices.alignmentMatrix = {
+			{  0.9205,  0.0000, -0.9205,  0.0000},
+			{  0.0000, -0.9205,  0.0000,  0.9205},
+			{  0.3907,  0.3907,  0.3907,  0.3907}};
 
-	rwMatrices.pseudoInverse = {{  0.4434, -0.2845,  0.3597},
-			                    {  0.2136, -0.3317,  1.0123},
-	                            { -0.8672, -0.1406,  0.1778},
-								{  0.6426,  0.4794,  1.3603}};
+	rwMatrices.pseudoInverse = {
+			{  0.4434, -0.2845,  0.3597},
+			{  0.2136, -0.3317,  1.0123},
+			{ -0.8672, -0.1406,  0.1778},
+			{  0.6426,  0.4794,  1.3603}};
 
 	rwMatrices.nullspace = { -0.7358,  0.5469, -0.3637, -0.1649};
 
@@ -96,21 +104,26 @@ AcsParameters::AcsParameters() {
 	strParameters.boresightAxis = { 0.7593, 0,-0.6508};
 	strParameters.exclusionAngle = 20 * Math::PI /180;
 
-	magnetorquesParameter.mtq0orientationMatrix = {{ 1, 0, 0},
-			                                       { 0, 0, 1},
-												   { 0,-1, 0}};
-	magnetorquesParameter.mtq1orientationMatrix = {{ 1, 0, 0},
-			                                       { 0, 1, 0},
-												   { 0, 0, 1}};
-	magnetorquesParameter.mtq2orientationMatrix = {{ 0, 0, 1},
-			                                       { 0, 1, 0},
-												   {-1, 0, 0}};
-	magnetorquesParameter.alignmentMatrixMtq = {{ 0, 0,-1},
-			                                    {-1, 0, 0},
-												{ 0, 1, 0}};
-	magnetorquesParameter.inverseAlignment = {{ 0,-1, 0},
-			                                  { 0, 0, 1},
-											  {-1, 0, 0}};
+	magnetorquesParameter.mtq0orientationMatrix = {
+			{ 1, 0, 0},
+			{ 0, 0, 1},
+			{ 0,-1, 0}};
+	magnetorquesParameter.mtq1orientationMatrix = {
+			{ 1, 0, 0},
+			{ 0, 1, 0},
+			{ 0, 0, 1}};
+	magnetorquesParameter.mtq2orientationMatrix = {
+			{ 0, 0, 1},
+			{ 0, 1, 0},
+			{-1, 0, 0}};
+	magnetorquesParameter.alignmentMatrixMtq = {
+			{ 0, 0,-1},
+			{-1, 0, 0},
+			{ 0, 1, 0}};
+	magnetorquesParameter.inverseAlignment = {
+			{ 0,-1, 0},
+			{ 0, 0, 1},
+			{-1, 0, 0}};
 	magnetorquesParameter.DipolMax = 0.2;
 
 }