prevent sign jump

2024-03-13 16:59:55 +01:00 · 2024-03-13 16:59:55 +01:00 · 346f4ff9de
commit 346f4ff9de
parent ad5282ca4a
1 changed files with 2 additions and 0 deletions
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
    return;
  }

+  QuaternionOperations::preventSignJump(quatIX, quatIXprev);
+
  // check required rotation and return if below limit
  double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
  QuaternionOperations::inverse(quatIXprev, quatXprevI);