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Merge branch 'main' into detumble-fix
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Marius Eggert
2024-01-22 14:10:19 +01:00
parent ef730022a0 54187e47c1
commit 82dd505194
3 changed files with 10 additions and 2 deletions
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mission/controller/acs/Guidance.cpp
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@ -418,7 +418,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
double invTargetQuat[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(targetQuat, invTargetQuat);
QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
// Last calculate add rotation from reference quaternion
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
// Keep scalar part of quaternion positive