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Fixes for Pointing Modes #851

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meggert merged 24 commits from ptg-fixes into main 2024-01-29 17:05:46 +01:00
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1 changed files with 5 additions and 1 deletions
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mission/controller/acs/Guidance.cpp
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@ -421,7 +421,11 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
errorAngle = QuaternionOperations::getAngle(errorQuat, true); errorAngle = QuaternionOperations::getAngle(errorQuat, true);
// Calculate error satellite rotational rate // Calculate error satellite rotational rate
// First combine the target and reference satellite rotational rates // Convert target rotational rate into body RF
double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
QuaternionOperations::inverse(errorQuat, errorQuatInv);
QuaternionOperations::multiplyVector(errorQuat, targetSatRotRate, targetSatRotRateB);
// Combine the target and reference satellite rotational rates
double combinedRefSatRotRate[3] = {0, 0, 0}; double combinedRefSatRotRate[3] = {0, 0, 0};
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3); VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
// Then subtract the combined required satellite rotational rates from the actual rate // Then subtract the combined required satellite rotational rates from the actual rate