Merge pull request 'Nah' (#891) from i-hate-it-here into main

Reviewed-on: #891
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.8.1] 2024-04-11
+
+- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
+
 # [v7.8.0] 2024-04-10
 
 ## Changed

CMakeLists.txt

@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
 set(OBSW_VERSION_MINOR 8)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

mission/controller/acs/Guidance.cpp

@@ -303,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // First calculate error quaternion between current and target orientation without reference
   // quaternion
   double errorQuatWoRef[4] = {0, 0, 0, 0};
-  QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);