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Merge pull request 'Fix Error Quaternion' (#883) from error-quat-fix into main
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Reviewed-on: #883
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-04-10 11:38:35 +02:00
commit 584a16a67c
2 changed files with 6 additions and 2 deletions
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4
CHANGELOG.md
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@ -27,6 +27,10 @@ will consitute of a breaking change warranting a new major release:
- PUS timeservice relative timeshift. - PUS timeservice relative timeshift.
## Fixed
- Fixed wrong order in quaternion multiplication for computation of the error quaternion.
# [v7.7.4] 2024-03-21 # [v7.7.4] 2024-03-21
## Changed ## Changed

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