From d37770422b4cfa706b5fdc1fbd833f65aa52fc83 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 23 Feb 2023 15:05:10 +0100
Subject: [PATCH] bugfixes

---
 .../controller/acs/MultiplicativeKalmanFilter.cpp  | 14 +++++++-------
 mission/controller/acs/Navigation.h                |  2 +-
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index 723a9bec..43110554 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -188,12 +188,12 @@ ReturnValue_t MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
     updateDataSetWithoutData(mekfData, MekfStatus::INITIALIZED);
-    return KALMAN_INITIALIZED;
+    return MEKF_INITIALIZED;
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
     updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
-    return KALMAN_UNINITIALIZED;
+    return MEKF_UNINITIALIZED;
   }
 }
 
@@ -210,12 +210,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_GYR_DATA);
-    return KALMAN_NO_GYR_DATA;
+    return MEKF_NO_GYR_DATA;
   }
   // Check for Model Calculations
   else if (!validSSModel || !validMagModel) {
     updateDataSetWithoutData(mekfData, MekfStatus::NO_MODEL_VECTORS);
-    return KALMAN_NO_MODEL_VECTORS;
+    return MEKF_NO_MODEL_VECTORS;
   }
   // Check Measurements available from SS, MAG, STR
   if (validSS && validMagField_ && validSTR_) {
@@ -853,7 +853,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   int inversionFailed = MathOperations<double>::inverseMatrix(*residualCov, *invResidualCov, MDF);
   if (inversionFailed) {
     updateDataSetWithoutData(mekfData, MekfStatus::COVARIANCE_INVERSION_FAILED);
-    return KALMAN_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
+    return MEKF_COVARIANCE_INVERSION_FAILED;  // RETURN VALUE ? -- Like: Kalman Inversion Failed
   }
 
   // [K = P * H' / (H * P * H' + R)]
@@ -1084,7 +1084,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, c
   MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
 
   updateDataSet(mekfData, MekfStatus::RUNNING, quatBJ, rotRateEst);
-  return KALMAN_RUNNING;
+  return MEKF_RUNNING;
 }
 
 ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
@@ -1094,7 +1094,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
   std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
   std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
   updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
-  return KALMAN_UNINITIALIZED;
+  return MEKF_UNINITIALIZED;
 }
 
 void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
diff --git a/mission/controller/acs/Navigation.h b/mission/controller/acs/Navigation.h
index 86baeacf..cf9e81e3 100644
--- a/mission/controller/acs/Navigation.h
+++ b/mission/controller/acs/Navigation.h
@@ -22,7 +22,7 @@ class Navigation {
  private:
   MultiplicativeKalmanFilter multiplicativeKalmanFilter;
   AcsParameters acsParameters;
-  ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::KALMAN_UNINITIALIZED;
+  ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
 };
 
 #endif /* ACS_NAVIGATION_H_ */