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Improve GS PTG #876

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meggert merged 5 commits from gs-ptr-improv into main 2024-03-18 11:04:02 +01:00
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mission/controller/acs/Guidance.cpp
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@ -244,6 +244,8 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
return; return;
} }
QuaternionOperations::preventSignJump(quatIX, quatIXprev);
// check required rotation and return if below limit // check required rotation and return if below limit
double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0}; double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
QuaternionOperations::inverse(quatIXprev, quatXprevI); QuaternionOperations::inverse(quatIXprev, quatXprevI);