[f] docs

src/simulation/dynamics/facetSRPDynamicEffector/facetSRPDynamicEffector.rst

@@ -49,16 +49,21 @@ and absorbed photons are represented using the coefficients :math:`\delta, \rho,
 
 For each articulating facet, the current facet normal vector must be computed in the spacecraft body
 frame :math:`\mathcal{B}`. Using the facet articulation axis :math:`\boldsymbol{\hat{s}}` and the current
-facet articulation angle :math:`\phi`, the active transformation required to rotate the facet normal vector
-through the current facet articulation angle is obtained using a principal rotation vector (PRV) transformation:
+facet articulation angle :math:`\phi`, the DCM required to rotate from the initial facet attitude to the final
+facet attitude is obtained using the principal rotation vector (PRV) transformation:
 
 .. math::
-    [\mathcal{F}_0\mathcal{F}] = \text{PRV2C}(-\phi, \boldsymbol{{}^\mathcal{F} \hat{s}})
+    [\mathcal{F}\mathcal{F}_0] = \text{PRV2C}(\phi, {}^\mathcal{F} \boldsymbol{\hat{s}})
 
-The facet normal vector can now be transformed to the spacecraft body frame:
+The transformation from the spacecraft body frame to the current facet attitude can next be determined:
 
 .. math::
-    {}^\mathcal{B} \boldsymbol{\hat{n}} = [\mathcal{BF_0}][\mathcal{F}_0\mathcal{F}] {}^{\mathcal{F}} \boldsymbol{\hat{n}}
+    [\mathcal{F}\mathcal{B}] = [\mathcal{F}\mathcal{F}_0] [\mathcal{F}_0\mathcal{B}]
+
+The facet normal vector can now be transformed to the spacecraft body frame using the `active` transformation:
+
+.. math::
+    {}^\mathcal{B} \boldsymbol{\hat{n}} = [\mathcal{FB}] {}^{\mathcal{F}} \boldsymbol{\hat{n}}
 
 Next, using the provided facet information and spacecraft Sun-relative position vector
 :math:`\boldsymbol{r}_{\text{sc} / \odot }`, the estimated SRP force acting on the spacecraft is calculated