From 4193a565a42971d9680dc35083bbed3d326357bc Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 22 Mar 2024 11:39:18 +0100 Subject: [PATCH 1/3] i hate this --- mission/controller/acs/Guidance.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 2c1b3c63..07730e09 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -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(currentQuat, targetQuat, errorQuatWoRef); + QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef); // Then add rotation from reference quaternion - QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat); + QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat); // Keep scalar part of quaternion positive if (errorQuat[3] < 0) { VectorOperations::mulScalar(errorQuat, -1, errorQuat, 4); From 9f033411089ba7c7cf537fa2fb69bb8a05c4313e Mon Sep 17 00:00:00 2001 From: meggert Date: Fri, 22 Mar 2024 11:40:00 +0100 Subject: [PATCH 2/3] changelog --- CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 649cf44f..6510f227 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Fixed + +- Fixed wrong order in quaternion multiplication for computation of the error quaternion. + # [v7.7.4] 2024-03-21 ## Changed From 539221a4581917b0461a7045e0481c8b992ccdbe Mon Sep 17 00:00:00 2001 From: meggert Date: Wed, 27 Mar 2024 09:24:41 +0100 Subject: [PATCH 3/3] updated limits within the pwr ctrl --- CHANGELOG.md | 4 ++++ mission/controller/PowerController.h | 6 +++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 649cf44f..e0962860 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Changed + +- Changed limits in `PWR Controller`. + # [v7.7.4] 2024-03-21 ## Changed diff --git a/mission/controller/PowerController.h b/mission/controller/PowerController.h index 6df60732..db3fcedf 100644 --- a/mission/controller/PowerController.h +++ b/mission/controller/PowerController.h @@ -57,9 +57,9 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM float batteryMaximumCapacity = 2.6 * 2; // [Ah] float coulombCounterVoltageUpperThreshold = 16.2; // [V] double maxAllowedTimeDiff = 1.5; // [s] - float payloadOpLimitOn = 0.90; // [%] - float payloadOpLimitLow = 0.75; // [%] - float higherModesLimit = 0.6; // [%] + float payloadOpLimitOn = 0.80; // [%] + float payloadOpLimitLow = 0.65; // [%] + float higherModesLimit = 0.60; // [%] // OCV Look-up-Table {[Ah],[V]} static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;