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nadir should work again
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This commit is contained in:
Marius Eggert
2023-02-20 16:20:54 +01:00
parent 48b0ee8662
commit 81a4112c45
3 changed files with 12 additions and 14 deletions
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11
mission/controller/acs/Guidance.cpp
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@ -364,8 +364,8 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4],
refSatRate[2] = 0;
}
void Guidance::quatNadirPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
@ -409,12 +409,7 @@ void Guidance::quatNadirPtgThreeAxes(timeval now, double posSatE[3], double velS
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
}
void Guidance::targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]) {