From 346f4ff9de5aa3f45ad464ff29b3ade7d892587f Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 13 Mar 2024 16:59:55 +0100
Subject: [PATCH] prevent sign jump

---
 mission/controller/acs/Guidance.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 4406a224..a6559db3 100644
--- 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);