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Target Quaternion Fix #847

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meggert merged 3 commits from target-quaternion-fix into main 2024-01-22 10:36:33 +01:00
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2 changed files with 9 additions and 1 deletions
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6
CHANGELOG.md
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@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
# [v7.5.5] 2024-01-22
## Fixed
- Calculation of error quaternion was done with inverse of the required target quaternion.
# [v7.5.4] 2024-01-16 # [v7.5.4] 2024-01-16
## Fixed ## Fixed

4
mission/controller/acs/Guidance.cpp
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@ -418,7 +418,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
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); double invTargetQuat[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(targetQuat, invTargetQuat);
QuaternionOperations::multiply(currentQuat, invTargetQuat, errorQuat);
// Last calculate add rotation from reference quaternion // Last calculate add rotation from reference quaternion
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat); QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
// Keep scalar part of quaternion positive // Keep scalar part of quaternion positive