still broken

mission/controller/AcsController.cpp

@@ -250,8 +250,8 @@ void AcsController::performPointingCtrl() {
 
   switch (submode) {
     case acs::PTG_IDLE:
-      guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
+      guidance.targetQuatPtgSun(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
-                          targetQuat, refSatRate);
+                                targetQuat, refSatRate);
       std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
                   4 * sizeof(double));
       enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
@@ -319,8 +319,8 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_NADIR:
-      guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
+      guidance.targetQuatPtgNadirThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now,
-                                     refSatRate);
+                                           targetQuat, refSatRate);
       std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
       enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
       guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
@@ -341,7 +341,7 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_INERTIAL:
-      guidance.inertialQuatPtg(targetQuat, refSatRate);
+      guidance.targetQuatPtgInertial(targetQuat, refSatRate);
       std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
                   4 * sizeof(double));
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;

mission/controller/acs/Guidance.cpp

@@ -1,10 +1,3 @@
-/*
- * Guidance.cpp
- *
- *  Created on: 6 Jun 2022
- *      Author: Robin Marquardt
- */
-
 #include "Guidance.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -355,7 +348,7 @@ void Guidance::targetQuatPtgGs(timeval now, double targetQuat[4], double refSatR
   QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
 }
 
-void Guidance::sunQuatPtg(timeval now, double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgSun(timeval now, double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion to sun
   //-------------------------------------------------------------------------------------
@@ -421,7 +414,7 @@ void Guidance::sunQuatPtg(timeval now, double targetQuat[4], double refSatRate[3
   refSatRate[2] = 0;
 }
 
-void Guidance::quatNadirPtgSingleAxis(timeval now, double targetQuat[4],
+void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4],
                                       double refSatRate[3]) {  // old version of Nadir Pointing
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
@@ -535,7 +528,7 @@ void Guidance::quatNadirPtgThreeAxes(double posSateE[3], double velSateE[3], tim
   QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
 }
 
-void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]) {
   std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
               4 * sizeof(double));
   std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,

mission/controller/acs/Guidance.h

@@ -1,10 +1,3 @@
-/*
- * Guidance.h
- *
- *  Created on: 6 Jun 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef GUIDANCE_H_
 #define GUIDANCE_H_
 
@@ -23,44 +16,27 @@ class Guidance {
 
   // Function to get the target quaternion and refence rotation rate from gps position and
   // position of the ground station
-  void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
+  void targetQuatPtgThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
-                              acsctrl::GpsDataProcessed *gpsDataProcessed,
+  void targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]);
-                              acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+  void targetQuatPtgSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
-                              double refSatRate[3]);
-  void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                       acsctrl::SusDataProcessed *susDataProcessed,
-                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                       double targetQuat[4], double refSatRate[3]);
-  void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                               acsctrl::SusDataProcessed *susDataProcessed,
-                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
-                               double targetQuat[4], double refSatRate[3]);
 
   // Function to get the target quaternion and refence rotation rate for sun pointing after ground
   // station
-  void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+  void targetQuatPtgSun(timeval now, double targetQuat[4], double refSatRate[3]);
-                  acsctrl::SusDataProcessed *susDataProcessed,
-                  acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
-                  double refSatRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from gps position for Nadir
   // pointing
-  void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
+  void targetQuatPtgNadirThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
-                             acsctrl::GpsDataProcessed *gpsDataProcessed,
+  void targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
-                             acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
-                             double refSatRate[3]);
-  void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                              timeval now, double targetQuat[4], double refSatRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from parameters for inertial
   // pointing
-  void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]);
 
   // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
   // desired
-  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
+  void comparePtg(double targetQuat[4], double quatRef[4], double refSatRate[3],
-                  double refSatRate[3], double quatErrorComplete[4], double quatError[3],
+                  double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
-                  double deltaRate[3]);
 
   void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
                        double *refSatRate);