Merge pull request 'Nah' (#891) from i-hate-it-here into main
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Reviewed-on: #891
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-04-11 14:04:51 +02:00
commit 2d7356b9ed
3 changed files with 7 additions and 3 deletions

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@ -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

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@ -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)

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@ -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);