Merge branch 'main' into mpsoc-overhaul

CHANGELOG.md

@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Fixed calculation for target rotation rate during pointing modes.
+
 ## Changed
 
 - Reworked MPSoC handler to be compatible to new MPSoC software image and use 
@@ -32,6 +36,8 @@ will consitute of a breaking change warranting a new major release:
 
 # [v7.8.1] 2024-04-11
 
+## Fixed
+
 - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
 
 # [v7.8.0] 2024-04-10

mission/controller/acs/Guidance.cpp

@@ -232,6 +232,7 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
   }
   if (timeDelta != 0.0) {
     QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
   } else {
     std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
   }
@@ -315,9 +316,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 
   // Calculate error satellite rotational rate
   // Convert target rotational rate into body RF
-  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::inverse(errorQuat, errorQuatInv);
-  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  double targetSatRotRateB[3] = {0, 0, 0};
+  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
+  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
   // Combine the target and reference satellite rotational rates
   double combinedRefSatRotRate[3] = {0, 0, 0};
   VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);