From ccf1fcaa7910126165564a1df57dd5e3fc4c811a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 15 Mar 2023 10:06:24 +0100
Subject: [PATCH] stuff

---
 mission/controller/AcsController.cpp | 12 +++++++-----
 mission/controller/AcsController.h   |  4 ++--
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 8e7b1b9a..220ba178 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -173,14 +173,16 @@ void AcsController::performSafe() {
         sunTargetDir, satRateSafe, &errAng, magMomMtq);
   }
   if (result == returnvalue::FAILED) {
-    if (not doomFlag) {
+    if (not safeCtrlFailureFlag) {
       triggerEvent(acs::SAFE_MODE_CONTROLLER_FAILURE);
-      doomFlag = true;
+      safeCtrlFailureFlag = true;
     }
-    doomCounter++;
-    if (doomCounter > 5) {
-      doomFlag = false;
+    safeCtrlFailureCounter++;
+    if (safeCtrlFailureCounter > 50) {
+      safeCtrlFailureFlag = false;
     }
+  } else {
+    safeCtrlFailureFlag = false;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index 2b0cda17..3c309bd4 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -62,8 +62,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   uint8_t multipleRwUnavailableCounter = 0;
   bool mekfInvalidFlag = false;
   uint16_t mekfInvalidCounter = 0;
-  bool doomFlag = false;
-  uint8_t doomCounter = 0;
+  bool safeCtrlFailureFlag = false;
+  uint8_t safeCtrlFailureCounter = 0;
 
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
   int16_t cmdDipolMtqs[3] = {0, 0, 0};