From ad5282ca4afd72fbd0d242351a37dca23514e3c3 Mon Sep 17 00:00:00 2001 From: meggert Date: Wed, 13 Mar 2024 16:59:37 +0100 Subject: [PATCH 1/4] bump fsfw --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index 47b21caf..27c8a97d 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 47b21caf5fa2a27c7ace89f960141b3f24c329ee +Subproject commit 27c8a97d45ca631fade540daf30b3645a36a003e From 346f4ff9de5aa3f45ad464ff29b3ade7d892587f Mon Sep 17 00:00:00 2001 From: meggert Date: Wed, 13 Mar 2024 16:59:55 +0100 Subject: [PATCH 2/4] prevent sign jump --- mission/controller/acs/Guidance.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp index 4406a224..a6559db3 100644 --- a/mission/controller/acs/Guidance.cpp +++ b/mission/controller/acs/Guidance.cpp @@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4]) return; } + QuaternionOperations::preventSignJump(quatIX, quatIXprev); + // check required rotation and return if below limit double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0}; QuaternionOperations::inverse(quatIXprev, quatXprevI); From 6c9a7c3ee5f0cce33fb790ada9950f463085418f Mon Sep 17 00:00:00 2001 From: meggert Date: Wed, 13 Mar 2024 17:01:17 +0100 Subject: [PATCH 3/4] changelog --- CHANGELOG.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index d1086a9f..3ad5a54a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Fixed + +- Added prevention of sign jump for target quaternion of GS pointing, which would reduce the + performance of the controller. + # [v7.7.2] 2024-03-06 ## Fixed From 3b521966a97911df150015d7a4d37400164afbf1 Mon Sep 17 00:00:00 2001 From: meggert Date: Mon, 18 Mar 2024 11:03:44 +0100 Subject: [PATCH 4/4] bumped fsfw --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index 27c8a97d..43ea29cb 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 27c8a97d45ca631fade540daf30b3645a36a003e +Subproject commit 43ea29cb845d4a7d190c87df490eb53c4992618b