changed pointingParameters struct

mission/controller/acs/AcsParameters.h

@@ -815,35 +815,51 @@ class AcsParameters : public HasParametersIF {
 
   } safeModeControllerParameters;
 
-  // ToDo: mutiple structs for different pointing mode controllers?
-  struct PointingModeControllerParameters {
-    double refDirection[3] = {-1, 0, 0};  // Antenna
-    double refRotRate[3] = {0, 0, 0};
-    double quatRef[4] = {0, 0, 0, 1};
-    uint8_t avoidBlindStr = true;
-    double blindAvoidStart = 1.5;
-    double blindAvoidStop = 2.5;
-    double blindRotRate = 1 * M_PI / 180;
+  struct PointingLawParameters {
 
-    double zeta = 0.3;
-    double om = 0.3;
-    double omMax = 1 * M_PI / 180;
-    double qiMin = 0.1;
-    double gainNullspace = 0.01;
+	double zeta = 0.3;
+	double om = 0.3;
+	double omMax = 1 * M_PI / 180;
+	double qiMin = 0.1;
+	double gainNullspace = 0.01;
 
-    double desatMomentumRef[3] = {0, 0, 0};
-    double deSatGainFactor = 1000;
-    uint8_t desatOn = true;
-    uint8_t enableAntiStiction = true;
+	double desatMomentumRef[3] = {0, 0, 0};
+	double deSatGainFactor = 1000;
+	uint8_t desatOn = true;
+	uint8_t enableAntiStiction = true;
 
-    double omegaEarth = 0.000072921158553;
+  } pointingLawParameters;
 
-    double nadirRefDirection[3] = {-1, 0, 0};  // Camera
-    double tgtQuatInertial[4] = {0, 0, 0, 1};
-    double tgtRotRateInertial[3] = {0, 0, 0};
-    int8_t nadirTimeElapsedMax = 10;
-  } pointingModeControllerParameters, inertialModeControllerParameters,
-      nadirModeControllerParameters, targetModeControllerParameters;
+  struct TargetModeControllerParameters : PointingLawParameters {
+	double refDirection[3] = {-1, 0, 0};  // Antenna
+	double refRotRate[3] = {0, 0, 0}; // Not used atm, do we want an option to
+	// give this as an input- currently en calculation is done
+	double quatRef[4] = {0, 0, 0, 1};
+	int8_t timeElapsedMax = 10; // rot rate calculations
+
+	// Default is Stuttgart GS
+	double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
+	double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
+	double altitudeTgt = 500; // [m]
+
+	// For one-axis control:
+	uint8_t avoidBlindStr = true;
+	double blindAvoidStart = 1.5;
+	double blindAvoidStop = 2.5;
+	double blindRotRate = 1 * M_PI / 180;
+  } targetModeControllerParameters;
+
+  struct NadirModeControllerParameters : PointingLawParameters {
+	double refDirection[3] = {-1, 0, 0};  // Antenna
+	double quatRef[4] = {0, 0, 0, 1};
+    int8_t timeElapsedMax = 10; // rot rate calculations
+  } nadirModeControllerParameters;
+
+  struct InertialModeControllerParameters : PointingLawParameters {
+	double tgtQuat[4] = {0, 0, 0, 1};
+	double refRotRate[3] = {0, 0, 0};
+	double quatRef[4] = {0, 0, 0, 1};
+  } inertialModeControllerParameters;
 
   struct StrParameters {
     double exclusionAngle = 20 * M_PI / 180;