eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

i hate this

Browse Source
This commit is contained in:
Marius Eggert 2024-03-22 11:39:18 +01:00
parent c1c254330b
commit 4193a565a4
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
mission/controller/acs/Guidance.cpp
View File

@ -303,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// First calculate error quaternion between current and target orientation without reference
// quaternion
double errorQuatWoRef[4] = {0, 0, 0, 0};
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
// Then add rotation from reference quaternion
QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
// Keep scalar part of quaternion positive
if (errorQuat[3] < 0) {
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);