From eb66d7585c68068848bf626ae987bada1cb7adb2 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Mar 2023 10:01:08 +0100
Subject: [PATCH 1/3] fixed ptgCtrl after acs submode to mode changes

---
 mission/controller/AcsController.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 8d1bd369..b4e7c5d3 100644
--- a/mission/controller/AcsController.cpp
+++ b/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(

From b1fa3fd01636210a38f54feef44dcf9feebe2d26 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Mar 2023 10:03:40 +0100
Subject: [PATCH 2/3] fixed max speed limitation done before calculation to
 right unit scale

---
 mission/controller/acs/ActuatorCmd.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index f32ce241..457cacce 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/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,

From f71fe274f4e81febf670e171cf658825b670d357 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Mar 2023 10:05:54 +0100
Subject: [PATCH 3/3] changelog

---
 CHANGELOG.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 69d8cf6a..dd1f57a2 100644
--- a/CHANGELOG.md
+++ b/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