mission/controller/acs/ActuatorCmd.cpp

@@ -55,14 +55,11 @@ void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentAct
   MatrixOperations<double>::multiply(inverseAlignment, dipolMoment, dipolMomentActuatorDouble, 3, 3,
                                      1);
   // Scaling along largest element if dipol exceeds maximum
-  double maxValue = 0;
-  for (int i = 0; i < 3; i++) {
-    if (abs(dipolMomentActuator[i]) > maxDipol) {
-      maxValue = abs(dipolMomentActuator[i]);
-    }
-  }
-  if (maxValue > maxDipol) {
-    double scalingFactor = maxDipol / maxValue;
+  uint8_t maxIdx = 0;
+  VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
+  double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
+  if (maxAbsValue > maxDipol) {
+    double scalingFactor = maxDipol / maxAbsValue;
     VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
                                         dipolMomentActuatorDouble, 3);
   }