Merge branch 'main' into gnss-ctrl-improvements

CHANGELOG.md

@@ -20,6 +20,8 @@ will consitute of a breaking change warranting a new major release:
 
 - Reverted lower OP limit of `PLOC` to -10°C.
 - All pointing laws are now allowed to use the `MEKF` per default.
+- Changed limits in `PWR Controller`.
+- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
 - The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
   some time. Instead it attempts to reset both GNSS devices once.
 - The maximum time to reach a fix is shortened from 30min to 15min.
@@ -32,22 +34,25 @@ will consitute of a breaking change warranting a new major release:
 - Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
   already invalid.
 
+## Added
+
+- PUS timeservice relative timeshift.
+
+## Fixed
+
+- Fixed wrong order in quaternion multiplication for computation of the error quaternion.
+
 # [v7.7.4] 2024-03-21
 
 ## Changed
 
 - Rotational rate limit for the GS target pointing is now seperated from controller limit. It
   is also reduced to 0.75°/s now.
-- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
 
 ## Fixed
 
 - Fixed wrong sign in calculation of total current within the `PWR Controller`.
 
-## Added
-
-- PUS timeservice relative timeshift.
-
 # [v7.7.3] 2024-03-18
 
 - Bumped `eive-fsfw`

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;

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