need to fix all of these TODOs

src/fsfw/controller/ControllerBase.cpp

@@ -102,7 +102,6 @@ const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
 
 const HasModesIF& ControllerBase::getModeIF() const { return *this; }
 
-ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent,
-                                                    const ModeTreeChildIF& child) {
-  return modetree::connectModeTreeParent(parent, child, healthHelper, modeHelper);
+ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
 }

src/fsfw/controller/ControllerBase.h

@@ -30,8 +30,7 @@ class ControllerBase : public HasModesIF,
   ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
 
-  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent,
-                                      const ModeTreeChildIF &child) override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
 
   /** SystemObject override */
   ReturnValue_t initialize() override;