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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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3
mission/controller/acs/AttitudeEstimation.cpp
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@ -96,12 +96,11 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3); VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3);
QuaternionOperations::normalize(qBI, qBI); QuaternionOperations::normalize(qBI, qBI);
}
// Low Pass // Low Pass
if (VectorOperations<double>::norm(qOld, 4) != 0.0) { if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI); QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
} }
}
{ {
PoolReadGuard pg{attitudeEstimation}; PoolReadGuard pg{attitudeEstimation};
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {