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fixed error angle being calculated but not returned
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This commit is contained in:
Marius Eggert 2023-05-26 09:57:03 +02:00
parent 7eeece6934
commit de18ebfbe0
2 changed files with 5 additions and 5 deletions
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4
mission/controller/acs/Guidance.cpp
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@ -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

4
mission/controller/acs/Guidance.h
View File

@ -42,10 +42,10 @@ class Guidance {
// 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);