fixed wrong sign for ortho torque calculation
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@ -123,7 +123,7 @@ void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double
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// calculate torque for orthogonal rotational rate
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double orthoFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiplyScalar(*inertiaMatrix, gainOrtho, *orthoFactor, 3, 3);
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MatrixOperations<double>::multiplyScalar(*inertiaMatrix, -gainOrtho, *orthoFactor, 3, 3);
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MatrixOperations<double>::multiply(*orthoFactor, satRotRateOrthogonalB, cmdOrtho, 3, 3, 1);
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}
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