Module: lowPassFilterTorqueCommand¶
Executive Summary¶
Module applies a low pass filter to the attitude control torque command.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
Message Connection Descriptions¶
The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.
Msg Variable Name |
Msg Type |
Description |
---|---|---|
cmdTorqueOutMsg |
filtered commanded torque output message |
|
cmdTorqueInMsg |
un-filtered commanded torque input message |
Defines
-
NUM_LPF¶
Functions
-
void SelfInit_lowPassFilterTorqueCommand(lowPassFilterTorqueCommandConfig *configData, int64_t moduleID)¶
This method initializes the configData for this module. It checks to ensure that the inputs are sane and then creates the output message
- Parameters
configData – The configuration data associated with this module
moduleID – The module identifier
- Returns
void
-
void Update_lowPassFilterTorqueCommand(lowPassFilterTorqueCommandConfig *configData, uint64_t callTime, int64_t moduleID)¶
This method takes the attitude and rate errors relative to the Reference frame, as well as the reference frame angular rates and acceleration, and computes the required control torque Lr.
- Parameters
configData – The configuration data associated with the MRP Steering attitude control
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The module identifier
- Returns
void
-
void Reset_lowPassFilterTorqueCommand(lowPassFilterTorqueCommandConfig *configData, uint64_t callTime, int64_t moduleID)¶
This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.
- Parameters
configData – The configuration data associated with the MRP steering control
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The module identifier
- Returns
void
-
struct lowPassFilterTorqueCommandConfig¶
- #include <lowPassFilterTorqueCommand.h>
module configuration message.
Public Members
-
double h¶
[s] filter time step (assumed to be fixed
-
double wc¶
[rad/s] continuous filter cut-off frequency
-
double hw¶
[rad] h times the prewarped discrete time cut-off frequency
-
double a[NUM_LPF]¶
filter coefficients for output
-
double b[NUM_LPF]¶
filter coefficients for input
-
double Lr[NUM_LPF][3]¶
[Nm] prior torque command
-
double LrF[NUM_LPF][3]¶
[Nm] prior filtered torque command
-
int reset¶
flag indicating the filter being started up
-
CmdTorqueBodyMsg_C cmdTorqueOutMsg¶
commanded torque output message
-
CmdTorqueBodyMsg_C cmdTorqueInMsg¶
commanded torque input message
-
BSKLogger *bskLogger¶
BSK Logging.
-
double h¶