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Once upon a time Robin was made happy #800

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meggert merged 20 commits from make-robin-happy-about-timestuff into dev-7.5.0 2023-12-04 11:21:53 +01:00
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1 changed files with 2 additions and 2 deletions
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mission/controller/acs/Guidance.cpp
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@ -460,13 +460,13 @@ void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double time
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) { if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion)); std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
} }
if (timeDelta < timeElapsedMax) { if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0}; double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatInertialTarget, q); QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS); QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0}; double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(q, qS, qDiff, 4); VectorOperations<double>::subtract(q, qS, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeDelta, qDiff, 4); VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
double tgtQuatVec[3] = {q[0], q[1], q[2]}; double tgtQuatVec[3] = {q[0], q[1], q[2]};
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]}; double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};