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removed unit quats as they are confusing
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This commit is contained in:
Marius Eggert
2023-04-11 10:55:48 +02:00
parent 18be21a310
commit c66799b24f
4 changed files with 16 additions and 13 deletions
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6
mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -1105,11 +1105,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
{
PoolReadGuard pg(mekfData);
if (pg.getReadResult() == returnvalue::OK) {
double unitQuat[4] = {0.0, 0.0, 0.0, 1.0};
double zeroVec[3] = {0.0, 0.0, 0.0};
std::memcpy(mekfData->quatMekf.value, unitQuat, 4 * sizeof(double));
std::memcpy(mekfData->quatMekf.value, ZERO_VEC4, 4 * sizeof(double));
mekfData->quatMekf.setValid(false);
std::memcpy(mekfData->satRotRateMekf.value, zeroVec, 3 * sizeof(double));
std::memcpy(mekfData->satRotRateMekf.value, ZERO_VEC3, 3 * sizeof(double));
mekfData->satRotRateMekf.setValid(false);
mekfData->mekfStatus = mekfStatus;
mekfData->setValidity(true, false);

3
mission/controller/acs/MultiplicativeKalmanFilter.h
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@ -80,6 +80,9 @@ class MultiplicativeKalmanFilter {
static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 9);
private:
static constexpr double ZERO_VEC3[3] = {0, 0, 0};
static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
/*Parameters*/
double quaternion_STR_SB[4];