Merge pull request 'acs-safe-hotfix' (#608) from acs-safe-hotfix into develop

Reviewed-on: #608

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.

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);
   }
 

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