From a81eae7726b746eca3e48eccc81d8e2f9f1a5825 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Sep 2023 14:34:15 +0200
Subject: [PATCH 1/4] exchange nominal and 1st redundancy sensor for ploc
 mission board

---
 mission/controller/ThermalController.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 5f2277a9..2729cec0 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -1372,12 +1372,13 @@ void ThermalController::ctrlPlPcduBoard() {
   tooHotHandler(objects::PLPCDU_HANDLER, tooHotFlags.eBandTooHotFlag);
 }
 
+// ToDo: remove one of the following 2
 void ThermalController::ctrlPlocMissionBoard() {
   ctrlCtx.thermalComponent = tcsCtrl::PLOCMISSION_BOARD;
-  sensors[0].first = sensorTemperatures.plocHeatspreader.isValid();
-  sensors[0].second = sensorTemperatures.plocHeatspreader.value;
-  sensors[1].first = sensorTemperatures.plocMissionboard.isValid();
-  sensors[1].second = sensorTemperatures.plocMissionboard.value;
+  sensors[0].first = sensorTemperatures.plocMissionboard.isValid();
+  sensors[0].second = sensorTemperatures.plocMissionboard.value;
+  sensors[1].first = sensorTemperatures.plocHeatspreader.isValid();
+  sensors[1].second = sensorTemperatures.plocHeatspreader.value;
   sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.dacHeatspreader.value;
   numSensors = 3;
-- 
2.43.0


From c709bd08815419118271b8f948ad082b1cc04fe6 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Sep 2023 14:35:40 +0200
Subject: [PATCH 2/4] changelog

---
 CHANGELOG.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a3098e4d..6fb13142 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,9 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+- The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
+
 # [v6.4.1] 2023-08-21
 
 ## Fixed
-- 
2.43.0


From 63b6db258c0fcfed17db1f39b0de49747643bbff Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Sep 2023 14:37:04 +0200
Subject: [PATCH 3/4] params for new safe mode

---
 mission/controller/acs/AcsParameters.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 0fb1daa9..a9c9ab5d 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -79,7 +79,7 @@ class AcsParameters : public HasParametersIF {
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
-    float mgmDerivativeFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.99;
     uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
@@ -771,7 +771,7 @@ class AcsParameters : public HasParametersIF {
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
     float susVectorFilterWeight = .85;
-    float susRateFilterWeight = .85;
+    float susRateFilterWeight = .99;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -834,15 +834,15 @@ class AcsParameters : public HasParametersIF {
     double k_alignGyr = 4.0e-5;
     double k_parallelGyr = 3.75e-4;
 
-    double k_orthoSusMgm = 1.1e-2;
-    double k_alignSusMgm = 2.0e-5;
-    double k_parallelSusMgm = 4.4e-4;
+    double k_orthoSusMgm = 4.4e-3;
+    double k_alignSusMgm = 4.0e-5;
+    double k_parallelSusMgm = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
-    uint8_t useGyr = true;
+    uint8_t useGyr = false;
     uint8_t dampingDuringEclipse = true;
 
     float sineLimitSunRotRate = 0.24;
-- 
2.43.0


From cfbd6d3b1e715e8040b58544153a04621eddf827 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 6 Sep 2023 14:38:19 +0200
Subject: [PATCH 4/4] changelog

---
 CHANGELOG.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6fb13142..d0738667 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,7 +17,10 @@ will consitute of a breaking change warranting a new major release:
 # [unreleased]
 
 ## Changed
+
 - The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
+- ACS parameters for the SUSMGM (FLP) safe mode have been adjusted. This safe mode is now the
+  default one.
 
 # [v6.4.1] 2023-08-21
 
-- 
2.43.0