From 367e879d91a60d12d1f5ae7a61f1cee1e1ead8e7 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 19 Jan 2024 16:15:22 +0100
Subject: [PATCH] this should be it

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

diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 0be636ad..6d2d3e98 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -418,6 +418,7 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                           double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
   // First calculate error quaternion between current and target orientation
+  QuaternionOperations::inverse(targetQuat, targetQuat);
   QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
   // Last calculate add rotation from reference quaternion
   QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);