From d762a2b703a65b370c87ac312a4e3670b4e2241a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Dec 2023 16:02:08 +0100
Subject: [PATCH] fix

---
 mission/controller/acs/AttitudeEstimation.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/mission/controller/acs/AttitudeEstimation.cpp b/mission/controller/acs/AttitudeEstimation.cpp
index d8f0bfe6..e287b22f 100644
--- a/mission/controller/acs/AttitudeEstimation.cpp
+++ b/mission/controller/acs/AttitudeEstimation.cpp
@@ -96,11 +96,10 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
 
     VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3);
     QuaternionOperations::normalize(qBI, qBI);
-
-    // Low Pass
-    if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
-      QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
-    }
+  }
+  // Low Pass
+  if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
+    QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
   }
   {
     PoolReadGuard pg{attitudeEstimation};