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Merge pull request 'acs hotfix v2' (#425) from acs-hotfix-the-second into develop
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Reviewed-on: #425
This commit is contained in:
Robin Müller 2023-03-03 15:20:59 +01:00
commit 26f9c499d8
1 changed files with 3 additions and 3 deletions
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mission/controller/acs/control/SafeCtrl.cpp
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@ -99,7 +99,7 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
// normalize sunDir and magDir // normalize sunDir and magDir
double magDirB[3] = {0, 0, 0}; double magDirB[3] = {0, 0, 0};
VectorOperations<double>::normalize(magFieldB, magDirB, 3); VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
VectorOperations<double>::normalize(susDirB, susDirB, 3); VectorOperations<double>::normalize(susDirB, susDirB, 3);
// Cosinus angle between sunDir and magDir // Cosinus angle between sunDir and magDir
@ -160,8 +160,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
// Magnetic moment // Magnetic moment
double magMomB[3] = {0, 0, 0}; double magMomB[3] = {0, 0, 0};
double crossMagFieldTorque[3] = {0, 0, 0}; double crossMagFieldTorque[3] = {0, 0, 0};
VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque); VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2); double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3); VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double)); std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));