From 392a97bb651a0dbc93dc30b0e3d16458613367ca Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 19 Jan 2024 16:17:37 +0100 Subject: [PATCH] better safe than sorry --- mission/controller/acs/Guidance.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 6d2d3e98..10d1393c 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -418,8 +418,9 @@ 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); + double invTargetQuat[4] = {0, 0, 0, 0}; + QuaternionOperations::inverse(targetQuat, invTargetQuat); + QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat); // Last calculate add rotation from reference quaternion QuaternionOperations::multiply(refQuat, errorQuat, errorQuat); // Keep scalar part of quaternion positive