From f3ac6d4a7e03658e45b588b496115838f36850ff Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 17 Nov 2022 13:01:29 +0100
Subject: [PATCH] added GPS and RW sensor readings. added RW1..4 dummies to
 acsTask

---
 bsp_q7s/core/InitMission.cpp            | 4 ++++
 mission/controller/acs/SensorValues.cpp | 5 ++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index b922ae88..1406c375 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -186,6 +186,10 @@ void initmission::initTasks() {
   acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
   acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
   acsCtrlTask->addComponent(objects::STAR_TRACKER);
+  acsCtrlTask->addComponent(objects::RW1);
+  acsCtrlTask->addComponent(objects::RW2);
+  acsCtrlTask->addComponent(objects::RW3);
+  acsCtrlTask->addComponent(objects::RW4);
 #endif
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
diff --git a/mission/controller/acs/SensorValues.cpp b/mission/controller/acs/SensorValues.cpp
index 18f0d16f..568a9e1c 100644
--- a/mission/controller/acs/SensorValues.cpp
+++ b/mission/controller/acs/SensorValues.cpp
@@ -82,8 +82,11 @@ ReturnValue_t SensorValues::update() {
   ReturnValue_t susUpdate = updateSus();
   ReturnValue_t gyrUpdate = updateGyr();
   ReturnValue_t strUpdate = updateStr();
+  ReturnValue_t gpsUpdate = updateGps();
+  ReturnValue_t rwUpdate = updateRw();
 
-  if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate) == returnvalue::FAILED) {
+  if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate && gpsUpdate && rwUpdate) ==
+      returnvalue::FAILED) {
     return returnvalue::FAILED;
   };
   return returnvalue::OK;