Changes here shouldn't be too terribly different from the PR that I just opened. Had just forgot that I merged two sets of changes together!
Updated GNC Utility Functions and Attitude Estimator
Fixes #159.
Fixes #161.
Relates to #163.
Summary of changes
Put in an explicit threshold on how "close" the triad vector pairs can be before an NaNs quaternion is returned (currently set to 1.0 degrees).
Add asserts to enforce invariants on GNC utility functions.
Update GNC utility function documentation to comment on NaN handling.
Add in w_sat as an input to the orbit estimator and remove the finite differencing of the attitude quaternion. We currently are just passing the measured omega through as the "estimate", however, this will get replaced by a full filter in the future.
Ptest Effects
Not applicable at the moment. Although, with this merged, work can commence on this.
Changes here shouldn't be too terribly different from the PR that I just opened. Had just forgot that I merged two sets of changes together!
Updated GNC Utility Functions and Attitude Estimator
Fixes #159. Fixes #161. Relates to #163.
Summary of changes
1.0degrees).w_satas an input to the orbit estimator and remove the finite differencing of the attitude quaternion. We currently are just passing the measured omega through as the "estimate", however, this will get replaced by a full filter in the future.Ptest Effects
Not applicable at the moment. Although, with this merged, work can commence on this.
Testing
Deferring testing for mex functions and fsw integration.
Constants
No change.
Documentation Evidence
See inline documentation.