From 07572ab3a029780493145f793df474cc19127465 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 17 Apr 2023 09:20:09 +0200
Subject: [PATCH 1/3] fixed shadowing

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

diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index ce50f276..f0ebd5a0 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -95,7 +95,6 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
                                 acsParameters->safeModeControllerParameters.k_orthoNonMekf);
 
   // sum of all torques
-  double cmdTorque[3] = {0, 0, 0};
   VectorOperations<double>::add(cmdParallel, cmdOrtho, cmdTorque, 3);
 
   // calculate magnetic moment to command

From e05d9d4b2a14d5c132eddddcbc243b6a9b528c1f Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 17 Apr 2023 09:29:50 +0200
Subject: [PATCH 2/3] prevent low pass filter if no sensor data is available

---
 mission/controller/acs/SensorProcessing.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index c1030c7b..4cc15a16 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -150,7 +150,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
 
-  if (mgmDataProcessed->mgmVecTotDerivative.isValid()) {
+  if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
+      mgmDataProcessed->mgmVecTotDerivative.isValid()) {
     lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
                   mgmParameters->mgmDerivativeFilterWeight);
   }
@@ -533,7 +534,7 @@ void SensorProcessing::processGyr(
     }
   }
 
-  if (gyrDataProcessed->gyrVecTot.isValid()) {
+  if (VectorOperations<double>::norm(gyrVecTot, 3) != 0 and gyrDataProcessed->gyrVecTot.isValid()) {
     lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
   }
 

From 9097a3f3c7be6f338e1facf19da5173fe9efa752 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 17 Apr 2023 09:35:23 +0200
Subject: [PATCH 3/3] changelog

---
 CHANGELOG.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 69acb077..9d318d21 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Fixed shadowing within the `SafeCtrl`, which prevented actuator commands to be calculated during
+  eclipse phase.
+
+## Changed
+
+- Low-pass filters can no longer be executed if no actual data is available.
+
 # [v2.0.2] 2023-04-16
 
 - Bump patch version to 2.