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Fix NaN for Limiting Rotation Rates #872

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meggert merged 17 commits from limit-rot-rate-fix into main 2024-03-06 11:13:02 +01:00
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CHANGELOG.md
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@ -27,6 +27,8 @@ will consitute of a breaking change warranting a new major release:
## Fixed ## Fixed
- Fixed wrong dimension of a matrix within the `MEKF`, which would lead to a seg fault, if the
star tracker was available.
- Fixed case in which control values within the `AcsController` could become NaN. - Fixed case in which control values within the `AcsController` could become NaN.
# [v7.7.0] 2024-02-29 # [v7.7.0] 2024-02-29

2
mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -342,7 +342,7 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
double *measSensMatrix, double *measCovMatrix, double *kalmanGain, double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
acsctrl::AttitudeEstimationData *attitudeEstimationData) { acsctrl::AttitudeEstimationData *attitudeEstimationData) {
// Kalman Gain: K = P * H' / (H * P * H' + R) // Kalman Gain: K = P * H' / (H * P * H' + R)
double kalmanGainDen[6][matrixDimensionFactor] = {{0}}, double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}}, invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
residualCov[6][matrixDimensionFactor] = {{0}}, residualCov[6][matrixDimensionFactor] = {{0}},
measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}}; measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};