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Merge pull request 'Fix Target Rotation Rate' (#893) from tgt-rot-rate-fix into main
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Reviewed-on: #893
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-04-30 15:52:05 +02:00
commit fe729f1df0
2 changed files with 10 additions and 3 deletions
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6
CHANGELOG.md
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@ -16,8 +16,14 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- Fixed calculation for target rotation rate during pointing modes.
# [v7.8.1] 2024-04-11 # [v7.8.1] 2024-04-11
## Fixed
- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion. - Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
# [v7.8.0] 2024-04-10 # [v7.8.0] 2024-04-10

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) { if (timeDelta != 0.0) {
QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate); QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
} else { } else {
std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double)); 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 // Calculate error satellite rotational rate
// Convert target rotational rate into body RF // Convert target rotational rate into body RF
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0}; double targetSatRotRateB[3] = {0, 0, 0};
QuaternionOperations::inverse(errorQuat, errorQuatInv); QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB); VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
// Combine the target and reference satellite rotational rates // Combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0}; double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3); VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);