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prevent sign jump
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This commit is contained in:
Marius Eggert 2024-03-13 16:59:55 +01:00
parent ad5282ca4a
commit 346f4ff9de
1 changed files with 2 additions and 0 deletions
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mission/controller/acs/Guidance.cpp
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@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
return; return;
} }
QuaternionOperations::preventSignJump(quatIX, quatIXprev);
// check required rotation and return if below limit // check required rotation and return if below limit
double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0}; double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatIXprev, quatXprevI); QuaternionOperations::inverse(quatIXprev, quatXprevI);