Merge pull request 'Some ACS bugfixes' (#459) from acs-ctrl-bugfixes into develop

Reviewed-on: #459
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Pointing control of the `AcsController` was still expecting submodes instead of modes.
+- Limitation of RW speeds was done before converting them to the correct unit scale.
+
 # [v1.37.0] 2023-03-11
 
 eive-tmtc: v2.18.1

mission/controller/AcsController.cpp

@@ -304,7 +304,7 @@ void AcsController::performPointingCtrl() {
   // Variables required for setting actuators
   double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
          mgtDpDes[3] = {0, 0, 0};
-  switch (submode) {
+  switch (mode) {
     case acs::PTG_IDLE:
       guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
       guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
@@ -416,6 +416,9 @@ void AcsController::performPointingCtrl() {
           &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
+    default:
+      sif::error << "AcsController: Invalid mode for performPointingCtrl";
+      break;
   }
 
   actuatorCmd.cmdSpeedToRws(

mission/controller/acs/ActuatorCmd.cpp

@@ -42,14 +42,14 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
     deltaSpeedInt[i] = std::round(deltaSpeed[i]);
   }
   VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
+  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
   for (uint8_t i = 0; i < 4; i++) {
     if (rwCmdSpeed[i] > maxRwSpeed) {
       rwCmdSpeed[i] = maxRwSpeed;
     } else if (rwCmdSpeed[i] < -maxRwSpeed) {
       rwCmdSpeed[i] = -maxRwSpeed;
     }
-  }
-  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
+    }
 }
 
 void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,