From fd4be08796cc1b1e94f2b00d8b623416c905098a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 27 Feb 2023 16:37:09 +0100
Subject: [PATCH] removed instance of AcsParameters as part of actuatorCmd

---
 mission/controller/acs/ActuatorCmd.cpp | 25 ++++++++++++++-----------
 mission/controller/acs/ActuatorCmd.h   | 12 +++++++-----
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index 8cda84d6..7ea6d567 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@@ -10,13 +10,14 @@
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
 
-ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
+ActuatorCmd::ActuatorCmd() {}
 
 ActuatorCmd::~ActuatorCmd() {}
 
-void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
+void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled,
+                                   AcsParameters::RwHandlingParameters *rwHandlingParameters) {
   // Scaling the commanded torque to a maximum value
-  double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
+  double maxTrq = rwHandlingParameters->maxTrq;
 
   double maxValue = 0;
   for (int i = 0; i < 4; i++) {  // size of torque, always 4 ?
@@ -33,17 +34,17 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
 
 void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
                                 const int32_t speedRw2, const int32_t speedRw3,
-                                const double *rwTorque, int32_t *rwCmdSpeed) {
+                                const double *rwTorque, int32_t *rwCmdSpeed,
+                                AcsParameters *acsParameters) {
   using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
   int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
   double deltaSpeed[4] = {0, 0, 0, 0};
-  double commandTime = acsParameters.onBoardParams.sampleTime,
-         inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
   double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
   //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
-  double factor = commandTime / inertiaWheel * radToRpm;
+  double factor = acsParameters->onBoardParams.sampleTime /
+                  acsParameters->rwHandlingParameters.inertiaWheel * radToRpm;
   int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
   VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
   for (int i = 0; i < 4; i++) {
@@ -53,13 +54,15 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
   VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator) {
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
+                              AcsParameters::MagnetorquerParameter *magnetorquerParameter) {
+  sif::debug << magnetorquerParameter->dipolMax << std::endl;
   // Convert to actuator frame
   double dipolMomentActuatorDouble[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
-                                     dipolMoment, dipolMomentActuatorDouble, 3, 3, 1);
+  MatrixOperations<double>::multiply(*magnetorquerParameter->inverseAlignment, dipolMoment,
+                                     dipolMomentActuatorDouble, 3, 3, 1);
   // Scaling along largest element if dipol exceeds maximum
-  double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
+  double maxDipol = magnetorquerParameter->dipolMax;
   double maxValue = 0;
   for (int i = 0; i < 3; i++) {
     if (abs(dipolMomentActuator[i]) > maxDipol) {
diff --git a/mission/controller/acs/ActuatorCmd.h b/mission/controller/acs/ActuatorCmd.h
index 969bd782..ca0deb5b 100644
--- a/mission/controller/acs/ActuatorCmd.h
+++ b/mission/controller/acs/ActuatorCmd.h
@@ -8,7 +8,7 @@
 
 class ActuatorCmd {
  public:
-  ActuatorCmd(AcsParameters *acsParameters_);  // Input mode ?
+  ActuatorCmd();  // Input mode ?
   virtual ~ActuatorCmd();
 
   /*
@@ -17,7 +17,8 @@ class ActuatorCmd {
    * @param:	rwTrq	 			given torque for reaction wheels
    * 			rwTrqScaled			possible scaled torque
    */
-  void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
+  void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled,
+                        AcsParameters::RwHandlingParameters *rwHandlingParameters);
 
   /*
    * @brief:	cmdSpeedToRws()		will set the maximum possible torque for the reaction
@@ -29,7 +30,8 @@ class ActuatorCmd {
    * reaction wheel
    */
   void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
-                     const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed);
+                     const int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
+                     AcsParameters *acsParameters);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
@@ -37,11 +39,11 @@ class ActuatorCmd {
    * @param:	dipolMoment 		given dipol moment in spacecraft frame
    * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator);
+  void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
+                   AcsParameters::MagnetorquerParameter *magnetorquerParameter);
 
  protected:
  private:
-  AcsParameters acsParameters;
 };
 
 #endif /* ACTUATORCMD_H_ */