eive/eive-obsw
eive/eive-obsw
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better safe than sorry
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This commit is contained in:
Marius Eggert 2024-01-19 16:17:37 +01:00
parent 367e879d91
commit 392a97bb65
1 changed files with 3 additions and 2 deletions
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5
mission/controller/acs/Guidance.cpp
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@ -418,8 +418,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double &errorAngle) { double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation // First calculate error quaternion between current and target orientation
QuaternionOperations::inverse(targetQuat, targetQuat); double invTargetQuat[4] = {0, 0, 0, 0};
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); QuaternionOperations::inverse(targetQuat, invTargetQuat);
QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
// Last calculate add rotation from reference quaternion // Last calculate add rotation from reference quaternion
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat); QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
// Keep scalar part of quaternion positive // Keep scalar part of quaternion positive