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Prevent STR Blinding #859

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meggert merged 35 commits from prevent-str-blinding into main 2024-02-27 13:48:20 +01:00
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mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -1079,7 +1079,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6); MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
if (not(VectorOperations<double>::isFinite(propagatedQuaternion, 4)) || if (not(VectorOperations<double>::isFinite(propagatedQuaternion, 4)) ||
not(MatrixOperations<double>::isFinite(initialQuaternion, 6, 6))) { not(MatrixOperations<double>::isFinite(*initialCovarianceMatrix, 6, 6))) {
updateDataSetWithoutData(mekfData, MekfStatus::NOT_FINITE); updateDataSetWithoutData(mekfData, MekfStatus::NOT_FINITE);
return MEKF_NOT_FINITE; return MEKF_NOT_FINITE;
} }