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ACS Ptg Ctrl Fixes #643

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muellerr merged 35 commits from acs-ptg-ctrl-fixes-2 into v3.0.0-dev 2023-06-07 11:49:10 +02:00
Conversation 0 Commits 35 Files Changed 15 +3 -3
1 changed files with 3 additions and 3 deletions
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mission/controller/acs/control/PtgCtrl.cpp
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@ -29,10 +29,10 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double qErrorLaw[3] = {0, 0, 0}; double qErrorLaw[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (abs(qError[i]) < qErrorMin) { if (std::abs(qError[i]) < qErrorMin) {
qErrorLaw[i] = qErrorMin; qErrorLaw[i] = qErrorMin;
} else { } else {
qErrorLaw[i] = abs(qError[i]); qErrorLaw[i] = std::abs(qError[i]);
} }
} }
double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3); double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
@ -70,7 +70,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
double pErrorSign[3] = {0, 0, 0}; double pErrorSign[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (abs(pError[i]) > 1) { if (std::abs(pError[i]) > 1) {
pErrorSign[i] = sign(pError[i]); pErrorSign[i] = sign(pError[i]);
} else { } else {
pErrorSign[i] = pError[i]; pErrorSign[i] = pError[i];