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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 +5 -5
2 changed files with 5 additions and 5 deletions
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4
mission/controller/acs/Guidance.cpp
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@ -412,7 +412,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double errorAngle) { double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation // First calculate error quaternion between current and target orientation
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
// Last calculate add rotation from reference quaternion // Last calculate add rotation from reference quaternion
@ -443,7 +443,7 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4], double targetSatRotRate[3], double errorQuat[4],
double errorSatRotRate[3], double errorAngle) { double errorSatRotRate[3], double &errorAngle) {
// First calculate error quaternion between current and target orientation // First calculate error quaternion between current and target orientation
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat); QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
// Keep scalar part of quaternion positive // Keep scalar part of quaternion positive

4
mission/controller/acs/Guidance.h
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@ -42,10 +42,10 @@ class Guidance {
// rate. Lastly gives back the error angle of the error quaternion. // rate. Lastly gives back the error angle of the error quaternion.
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3], double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
double errorQuat[4], double errorSatRotRate[3], double errorAngle); double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4], void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3], double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
double errorAngle); double &errorAngle);
void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4], void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
double *targetSatRotRate); double *targetSatRotRate);