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ACS Ctrl Bug Bash #439

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muellerr merged 42 commits from acs-bug-bash into develop 2023-03-10 19:21:19 +01:00
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mission/controller/AcsController.cpp
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@ -299,6 +299,8 @@ void AcsController::performPointingCtrl() {
guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
*rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(
&acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),