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Merge branch 'main' into gnss-ctrl-improvements

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Marius Eggert
2024-04-10 11:40:04 +02:00
parent 7b53275d61 584a16a67c
commit ef8736bd81
3 changed files with 15 additions and 10 deletions
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6
mission/controller/PowerController.h
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@ -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;

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(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<double>::mulScalar(errorQuat, -1, errorQuat, 4);