From eff9116aec3a31d861444c41ca8747045aef9c81 Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 11 Apr 2024 13:57:40 +0200 Subject: [PATCH 1/3] ??? --- mission/controller/acs/Guidance.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 07730e09..2c1b3c63 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/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::mulScalar(errorQuat, -1, errorQuat, 4); From 5bb1bd894641eb31456b02eaff4130765a3576f8 Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 11 Apr 2024 13:58:57 +0200 Subject: [PATCH 2/3] changelog --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 99dd2437..d58be5b2 100644 --- a/CHANGELOG.md +++ b/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 From 675dda8e9eb85ef7254d8d7b590eeb322632ddb6 Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 11 Apr 2024 14:00:30 +0200 Subject: [PATCH 3/3] bump version --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 04401675..3132f5ed 100644 --- a/CMakeLists.txt +++ b/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)