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fix
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This commit is contained in:
Marius Eggert 2023-12-06 16:02:08 +01:00
parent 8cd773d18b
commit d762a2b703
1 changed files with 4 additions and 5 deletions
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9
mission/controller/acs/AttitudeEstimation.cpp
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@ -96,11 +96,10 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3);
QuaternionOperations::normalize(qBI, qBI);
// Low Pass
if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
}
}
// Low Pass
if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
}
{
PoolReadGuard pg{attitudeEstimation};