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fixed wrong sign for ortho torque calculation
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Marius Eggert 2023-04-13 20:21:12 +02:00
parent 9861772c38
commit 7f3f99c6aa
1 changed files with 1 additions and 1 deletions
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mission/controller/acs/control/SafeCtrl.cpp
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@ -123,7 +123,7 @@ void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double
// calculate torque for orthogonal rotational rate // calculate torque for orthogonal rotational rate
double orthoFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}; double orthoFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiplyScalar(*inertiaMatrix, gainOrtho, *orthoFactor, 3, 3); MatrixOperations<double>::multiplyScalar(*inertiaMatrix, -gainOrtho, *orthoFactor, 3, 3);
MatrixOperations<double>::multiply(*orthoFactor, satRotRateOrthogonalB, cmdOrtho, 3, 3, 1); MatrixOperations<double>::multiply(*orthoFactor, satRotRateOrthogonalB, cmdOrtho, 3, 3, 1);
} }