eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Once upon a time Robin was made happy #800

Merged
meggert merged 20 commits from make-robin-happy-about-timestuff into dev-7.5.0 2023-12-04 11:21:53 +01:00
Conversation 1 Commits 20 Files Changed 10 +2 -2
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit d5e57501be - Show all commits

4
mission/controller/acs/Guidance.cpp
View File

@ -460,13 +460,13 @@ void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double time
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
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};
QuaternionOperations::inverse(quatInertialTarget, q);
QuaternionOperations::inverse(savedQuaternion, qS);
double qDiff[4] = {0, 0, 0, 0};
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 qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};