#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
"""
Overview
--------
This script sets up a 6-DOF spacecraft orbiting Earth. The goal of this tutorial is to demonstrate
how to configure and use the :ref:`mrpSteering` module with a rate sub-servo system
the new BSK_Sim architecture.
The script is found in the folder ``basilisk/examples/BskSim/scenarios`` and executed by using::
python3 scenario_AttSteering.py
The simulation mimics the basic simulation simulation in the earlier tutorial in
:ref:`scenarioAttitudeSteering`.
The simulation layout is shown in the following illustration.
.. image:: /_images/static/test_scenario_AttSteering.svg
:align: center
The initial conditions for the scenario are the same as found within :ref:`scenario_FeedbackRW`.
Custom Dynamics Configurations Instructions
-------------------------------------------
The dynamics setup is the same as in :ref:`scenario_FeedbackRW`.
Custom FSW Configurations Instructions
--------------------------------------
To configure the desired "steeringRW" FSW mode the user must add the following modules to :ref:`BSK_FSW.py <BSK_FSW>`.
Illustration of Simulation Results
----------------------------------
::
showPlots = True
.. image:: /_images/Scenarios/scenario_AttSteering_attitudeErrorNorm.svg
:align: center
.. image:: /_images/Scenarios/scenario_AttSteering_rwMotorTorque.svg
:align: center
.. image:: /_images/Scenarios/scenario_AttSteering_rateError.svg
:align: center
.. image:: /_images/Scenarios/scenario_AttSteering_rwSpeed.svg
:align: center
"""
# Get current file path
import inspect
import os
import sys
import numpy as np
# Import utilities
from Basilisk.utilities import orbitalMotion, macros, vizSupport
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# Import master classes: simulation base class and scenario base class
sys.path.append(path + '/..')
from BSK_masters import BSKSim, BSKScenario
import BSK_Dynamics, BSK_Fsw
# Import plotting file for your scenario
sys.path.append(path + '/../plotting')
import BSK_Plotting as BSK_plt
# Create your own scenario child class
[docs]class scenario_AttitudeSteeringRW(BSKSim, BSKScenario):
def __init__(self):
super(scenario_AttitudeSteeringRW, self).__init__()
self.name = 'scenario_AttitudeSteeringRW'
self.rwSpeedRec = None
self.attErrRec = None
self.rateCmdRec = None
self.rwMotorRec = None
self.set_DynModel(BSK_Dynamics)
self.set_FswModel(BSK_Fsw)
self.configure_initial_conditions()
self.log_outputs()
# if this scenario is to interface with the BSK Viz, uncomment the following line
DynModels = self.get_DynModel()
vizSupport.enableUnityVisualization(self, DynModels.taskName, DynModels.scObject
# , saveFile=__file__
, rwEffectorList=DynModels.rwStateEffector
)
[docs] def log_outputs(self):
samplingTime = self.get_FswModel().processTasksTimeStep
# Dynamics process outputs:
self.rwSpeedRec = self.get_DynModel().rwStateEffector.rwSpeedOutMsg.recorder(samplingTime)
# FSW process outputs
self.attErrRec = self.get_FswModel().attGuidMsg.recorder(samplingTime)
self.rateCmdRec = self.get_FswModel().mrpSteering.rateCmdOutMsg.recorder(samplingTime)
self.rwMotorRec = self.get_FswModel().cmdRwMotorMsg.recorder(samplingTime)
self.AddModelToTask(self.get_DynModel().taskName, self.rwSpeedRec)
self.AddModelToTask(self.get_DynModel().taskName, self.rwMotorRec)
self.AddModelToTask(self.get_DynModel().taskName, self.attErrRec)
self.AddModelToTask(self.get_DynModel().taskName, self.rateCmdRec)
return
[docs] def pull_outputs(self, showPlots):
num_RW = 4 # number of wheels used in the scenario
# Dynamics process outputs: pull log messages below if any
RW_speeds = np.delete(self.rwSpeedRec.wheelSpeeds[:, range(num_RW)], 0, 0)
# FSW process outputs
dataUsReq = np.delete(self.rwMotorRec.motorTorque[:, range(num_RW)], 0, 0)
omega_BR_ast = np.delete(self.rateCmdRec.omega_BastR_B, 0, 0)
sigma_BR = np.delete(self.attErrRec.sigma_BR, 0, 0)
omega_BR_B = np.delete(self.attErrRec.omega_BR_B, 0, 0)
# Plot results
BSK_plt.clear_all_plots()
timeData = np.delete(self.rwSpeedRec.times(), 0, 0) * macros.NANO2MIN
BSK_plt.plot_attitude_error(timeData, sigma_BR)
BSK_plt.plot_rw_cmd_torque(timeData, dataUsReq, num_RW)
BSK_plt.plot_rate_error(timeData, omega_BR_B)
BSK_plt.plot_rw_speeds(timeData, RW_speeds, num_RW)
figureList = {}
if showPlots:
BSK_plt.show_all_plots()
else:
fileName = os.path.basename(os.path.splitext(__file__)[0])
figureNames = ["attitudeErrorNorm", "rwMotorTorque", "rateError", "rwSpeed"]
figureList = BSK_plt.save_all_plots(fileName, figureNames)
return figureList
def runScenario(scenario):
# Initialize simulation
scenario.InitializeSimulation()
# Configure FSW mode
scenario.modeRequest = 'steeringRW'
# Configure run time and execute simulation
simulationTime = macros.min2nano(10.)
scenario.ConfigureStopTime(simulationTime)
scenario.ExecuteSimulation()
[docs]def run(showPlots):
"""
The scenarios can be run with the followings setups parameters:
Args:
showPlots (bool): Determines if the script should display plots
"""
# Configure a scenario in the base simulation
TheScenario = scenario_AttitudeSteeringRW()
runScenario(TheScenario)
figureList = TheScenario.pull_outputs(showPlots)
return figureList
if __name__ == "__main__":
run(True)