From de18ebfbe0798dbcf037d092a6afe58ac82e698b Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 26 May 2023 09:57:03 +0200 Subject: [PATCH] fixed error angle being calculated but not returned --- mission/controller/acs/Guidance.cpp | 4 ++-- mission/controller/acs/Guidance.h | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 79c6b416..7c8fc2a1 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -412,7 +412,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], - double errorQuat[4], double errorSatRotRate[3], double errorAngle) { + double errorQuat[4], double errorSatRotRate[3], double &errorAngle) { // First calculate error quaternion between current and target orientation QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); // Last calculate add rotation from reference quaternion @@ -443,7 +443,7 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], double targetSatRotRate[3], double errorQuat[4], - double errorSatRotRate[3], double errorAngle) { + double errorSatRotRate[3], double &errorAngle) { // First calculate error quaternion between current and target orientation QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); // Keep scalar part of quaternion positive diff --git a/mission/controller/acs/Guidance.h b/mission/controller/acs/Guidance.h index a52c476a..39e77456 100644 --- a/mission/controller/acs/Guidance.h +++ b/mission/controller/acs/Guidance.h @@ -37,15 +37,15 @@ class Guidance { double targetQuat[4], double refSatRate[3]); // @note: Calculates the error quaternion between the current orientation and the target - // quaternion, considering a reference quaternion. Additionally the difference between the actual + // quaternion, considering a reference quaternion. Additionally the difference between the actual // and a desired satellite rotational rate is calculated, again considering a reference rotational // rate. Lastly gives back the error angle of the error quaternion. void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], - double errorQuat[4], double errorSatRotRate[3], double errorAngle); + double errorQuat[4], double errorSatRotRate[3], double &errorAngle); void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3], - double errorAngle); + double &errorAngle); void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], double *targetSatRotRate);