#
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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#
r"""
Overview
--------
This scenario only performs the pointing component to the OpNav FSW stack.
It uses the Limb-based method to identify the planet center.
More details can be found in Chapter 2 of `Thibaud Teil's PhD thesis <http://hanspeterschaub.info/Papers/grads/ThibaudTeil.pdf>`_.
The script can be run at full length by calling::
python3 scenario_OpNavPointLimb.py
"""
# Get current file path
import inspect
import os
import sys
import time
# Import utilities
from Basilisk.utilities import orbitalMotion, macros, unitTestSupport
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_OpNav import BSKSim, BSKScenario
import BSK_OpNavDynamics, BSK_OpNavFsw
# Import plotting file for your scenario
sys.path.append(path + '/../plottingOpNav')
import OpNav_Plotting as BSK_plt
# Create your own scenario child class
[docs]class scenario_OpNav(BSKScenario):
"""Main Simulation Class"""
def __init__(self, masterSim, showPlots=False):
super(scenario_OpNav, self).__init__(masterSim, showPlots)
self.name = 'scenario_opnav'
self.masterSim = masterSim
self.filterUse = "bias" #"relOD"
# declare additional class variables
self.rwMotorRec = None
self.attGuidRec = None
self.rwLogs = []
[docs] def log_outputs(self):
# Dynamics process outputs: log messages below if desired.
FswModel = self.masterSim.get_FswModel()
DynModel = self.masterSim.get_DynModel()
# FSW process outputs
samplingTime = self.masterSim.get_FswModel().processTasksTimeStep
self.attGuidRec = FswModel.attGuidMsg.recorder(samplingTime)
self.rwMotorRec = FswModel.rwMotorTorque.rwMotorTorqueOutMsg.recorder(samplingTime)
self.masterSim.AddModelToTask(DynModel.taskName, self.attGuidRec)
self.masterSim.AddModelToTask(DynModel.taskName, self.rwMotorRec)
self.rwLogs = []
for item in range(4):
self.rwLogs.append(DynModel.rwStateEffector.rwOutMsgs[item].recorder(samplingTime))
self.masterSim.AddModelToTask(DynModel.taskName, self.rwLogs[item])
return
[docs] def pull_outputs(self, showPlots):
sigma_BR = unitTestSupport.addTimeColumn(self.attGuidRec.times(), self.attGuidRec.sigma_BR)
omega_BR_B = unitTestSupport.addTimeColumn(self.attGuidRec.times(), self.attGuidRec.omega_BR_B)
numRW = 4
dataUsReq = unitTestSupport.addTimeColumn(self.rwMotorRec.times(), self.rwMotorRec.motorTorque)
dataRW = []
for i in range(numRW):
dataRW.append(unitTestSupport.addTimeColumn(self.rwMotorRec.times(), self.rwLogs[i].u_current))
# Plot results
BSK_plt.clear_all_plots()
timeData = self.attGuidRec.times() * macros.NANO2MIN
BSK_plt.plot_rw_motor_torque(timeData, dataUsReq, dataRW, numRW)
BSK_plt.plot_attitude_error(timeData, sigma_BR)
BSK_plt.plot_rate_error(timeData, omega_BR_B)
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 run(showPlots, simTime=None):
# Instantiate base simulation
TheBSKSim = BSKSim(fswRate=0.5, dynRate=0.5)
TheBSKSim.set_DynModel(BSK_OpNavDynamics)
TheBSKSim.set_FswModel(BSK_OpNavFsw)
# Configure a scenario in the base simulation
TheScenario = scenario_OpNav(TheBSKSim, showPlots)
if showPlots:
TheScenario.log_outputs()
TheScenario.configure_initial_conditions()
TheBSKSim.get_DynModel().cameraMod.saveImages = 0
# opNavMode 1 is used for viewing the spacecraft as it navigates, opNavMode 2 is for headless camera simulation
TheBSKSim.get_DynModel().vizInterface.opNavMode = 2
# The following code spawns the Vizard application from python
mode = ["None", "-directComm", "-noDisplay"]
TheScenario.run_vizard(mode[TheBSKSim.get_DynModel().vizInterface.opNavMode])
# Configure FSW mode
TheScenario.masterSim.modeRequest = 'prepOpNav'
# Initialize simulation
TheBSKSim.InitializeSimulation()
# Configure run time and execute simulation
simulationTime = macros.min2nano(5.)
TheBSKSim.ConfigureStopTime(simulationTime)
print('Starting Execution')
t1 = time.time()
TheBSKSim.ExecuteSimulation()
TheScenario.masterSim.modeRequest = 'pointLimb'
if simTime != None:
simulationTime = macros.min2nano(simTime)
else:
simulationTime = macros.min2nano(200.)
TheBSKSim.ConfigureStopTime(simulationTime)
TheBSKSim.ExecuteSimulation()
t2 = time.time()
print('Finished Execution in ', t2-t1, ' seconds. Post-processing results')
# Terminate vizard and show plots
figureList = TheScenario.end_scenario()
return figureList
if __name__ == "__main__":
run(True)