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Merge branch 'mpsoc-overhaul' of egit.irs.uni-stuttgart.de:eive/eive-obsw into mpsoc-overhaul
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This commit is contained in:
Robin Müller 2024-04-17 15:09:51 +02:00
parent 9e163ca55e 4d4ab6c1d3
commit dcc64046f4
Signed by: muellerr
GPG Key ID: A649FB78196E3849
2 changed files with 6 additions and 2 deletions
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4
CHANGELOG.md
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@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
# [v7.8.1] 2024-04-11
- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
# [v7.8.0] 2024-04-10
## Changed

4
mission/controller/acs/Guidance.cpp
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@ -303,9 +303,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
// First calculate error quaternion between current and target orientation without reference
// quaternion
double errorQuatWoRef[4] = {0, 0, 0, 0};
QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
// Then add rotation from reference quaternion
QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
// Keep scalar part of quaternion positive
if (errorQuat[3] < 0) {
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);