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Merge branch 'main' into mpsoc-overhaul
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Marius Eggert
2024-04-30 15:57:34 +02:00
parent 4a0acbf158 fe729f1df0
commit f7f14ff021
2 changed files with 10 additions and 3 deletions
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7
mission/controller/acs/Guidance.cpp
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@ -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);