From eff9116aec3a31d861444c41ca8747045aef9c81 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 11 Apr 2024 13:57:40 +0200
Subject: [PATCH] ???

---
 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 07730e09..2c1b3c63 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(targetQuat, currentQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);